| --- |
| library_name: lerobot |
| tags: [lerobot, act, robotics, aloha] |
| datasets: [lerobot/aloha_sim_transfer_cube_scripted] |
| --- |
| |
| # ACT — C3_transfer_cube_scripted |
| |
| ACT trained with LeRobot (`ba83e4c`, official ACT hyperparameters: batch 8, lr 1e-5, chunk 100, 100k steps) on one RTX 5090. |
| |
| - Dataset: `lerobot/aloha_sim_transfer_cube_scripted` |
| - Eval: `aloha` / `AlohaTransferCube-v0`, 200 episodes → **93.0%** success (186/200, 95% Wilson CI 88.6–95.8) |
| - Full benchmark, logs and reproduction scripts: https://github.com/Jerryisqx/ACT-5090-benchmark |
| |
| ```bash |
| lerobot-eval --policy.path=LUC1O/act-5090-C3_transfer_cube_scripted --env.type=aloha --env.task=AlohaTransferCube-v0 --eval.n_episodes=50 --eval.use_async_envs=false |
| ``` |
| |
