---
library_name: lerobot
tags: [lerobot, act, robotics, aloha]
datasets: [lerobot/aloha_sim_insertion_scripted]
---

# ACT — C4_insertion_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_insertion_scripted`
- Eval: `aloha` / `AlohaInsertion-v0`, 200 episodes → **64.0%** success (128/200, 95% Wilson CI 57.1–70.3)
- Full benchmark, logs and reproduction scripts: https://github.com/Jerryisqx/ACT-5090-benchmark

```bash
lerobot-eval --policy.path=LUC1O/act-5090-C4_insertion_scripted --env.type=aloha --env.task=AlohaInsertion-v0 --eval.n_episodes=50 --eval.use_async_envs=false
```