diff --git a/lerobot/common/policies/sac/modeling_sac.py b/lerobot/common/policies/sac/modeling_sac.py
index a5df2533..9e157a26 100644
--- a/lerobot/common/policies/sac/modeling_sac.py
+++ b/lerobot/common/policies/sac/modeling_sac.py
@@ -129,7 +129,7 @@ class SACPolicy(
                 encoder=encoder_critic,
                 input_dim=encoder_critic.output_dim,
                 output_dim=config.num_discrete_actions,
-                softmax_temperature=1.0,
+                softmax_temperature=.15,
                 **asdict(config.grasp_critic_network_kwargs),
             )
 
@@ -138,7 +138,7 @@ class SACPolicy(
                 encoder=encoder_critic,
                 input_dim=encoder_critic.output_dim,
                 output_dim=config.num_discrete_actions,
-                softmax_temperature=1.0,
+                softmax_temperature=0.15,
                 **asdict(config.grasp_critic_network_kwargs),
             )
 
@@ -786,6 +786,7 @@ class GraspCritic(nn.Module):
         super().__init__()
         self.encoder = encoder
         self.output_dim = output_dim
+        self.softmax_temperature = softmax_temperature
 
         self.net = MLP(
             input_dim=input_dim,