| --- |
| license: apache-2.0 |
| library_name: lerobot |
| pipeline_tag: robotics |
| tags: |
| - robotics |
| - act |
| - imitation-learning |
| - reinforcement-learning |
| - grpo |
| - mujoco |
| - bimanual |
| - roboeval |
| - hybird-control |
| datasets: |
| - helen9975/roboeval_ee_delta_20hz_scaled |
| - Sa74ll/LocalModels-ACT-bimanual-rollouts |
| --- |
| |
| # LocalModels / ACT-bimanual |
|
|
| Entry **ACT-bimanual** by team **LocalModels** (Saleh Alsharideh, Independent) to the CoRL 2026 RoboEval Diagnostic |
| Bimanual Challenge. **Official score 0.9873**, 399 of 400 episodes successful. |
|
|
| Seven tasks run hand-designed RGB-D controllers (no learned weights); LiftPot runs an Action Chunking Transformer (ACT) |
| trained on the demonstrations and fine-tuned in simulation with GRPO. Code, report and explainer videos: |
| [github.com/Sa74ll/RoboevalChallenge](https://github.com/Sa74ll/RoboevalChallenge). |
|
|
| | Path | Content | |
| |---|---| |
| | `submission/` | the submitted bundle: `metadata.yaml`, `policy/`, `checkpoint/` (seven `hybrid.json` controller selectors and the LiftPot ACT weights) | |
| | `official_run/` | the official run (seeds 1000-1049): `results.json` and the 400 episode logs | |
| | `SHA1SUMS.txt` | SHA-1 of every file in `submission/` | |
|
|
| The submission archive was packaged without `checkpoint/`; its `checkpoint_url` points to `submission/checkpoint` here. |
|
|
| ## Run |
|
|
| Needs [RoboEval](https://robo-eval.github.io/challenge.html) at tag `corl2026-challenge`. |
|
|
| ```bash |
| hf download Sa74ll/LocalModels-ACT-bimanual --include "submission/*" --include SHA1SUMS.txt --local-dir ACT-bimanual |
| cd ACT-bimanual && sha1sum -c SHA1SUMS.txt |
| pip install -r submission/policy/requirements.txt |
| python -m roboeval.challenge.evaluate --submission submission --workers W --gpus 0 |
| ``` |
|
|
| ## Results (official run) |
|
|
| | Task | Policy | Successes | Score | |
| |---|---|---|---| |
| | CubeHandover | controller | 50 | 1.000 | |
| | LiftPot | ACT | 50 | 1.000 | |
| | LiftTray | controller | 50 | 1.000 | |
| | PackBox | controller | 49 | 0.954 | |
| | PickSingleBookFromTable | controller | 50 | 0.991 | |
| | RotateValve | controller | 50 | 1.000 | |
| | StackSingleBookShelf | controller | 50 | 1.000 | |
| | StackTwoBlocks | controller | 50 | 0.953 | |
| | **Suite** | | **399 / 400** | **0.9873** | |
|
|
| Training data and every use of simulator state: the report, Sec. 3. The files here equal the submitted ones except |
| three edits that do not change behaviour (no contact e-mail in `metadata.yaml`, local paths shortened in the LiftPot |
| configs, a license notice in `modeling_act.py`); see [GitHub](https://github.com/Sa74ll/RoboevalChallenge). |
|
|
| ## License |
|
|
| Apache-2.0. `modeling_act.py` is modified from LeRobot (Apache-2.0). |
