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act_flip_v1_jitter
v1 expert + v2's trajectory jitter
Jacob's from-scratch ACT (scripts/act.py, scripts/train_act.py in https://github.com/JaHeRoth/robot-learning). Checkpoints uploaded: best = step 20000, final = step 30000. Raw torch.save dicts with model_state, opt_state, stats.
| step | success | 95% CI |
|---|---|---|
| 5000 | 0.180 | [0.149, 0.216] |
| 10000 | 0.712 | [0.671, 0.750] |
| 20000 | 0.830 | [0.795, 0.860] |
| 30000 | 0.780 | [0.742, 0.814] |
500 held-out seeds (800000-800499), n_action_steps 40, horizon 450
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