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act_flip_v2_labelnoise
v2 expert (jitter off) with v1's +-15 mm drop-off label noise added (99 episodes)
Jacob's from-scratch ACT (scripts/act.py, scripts/train_act.py in https://github.com/JaHeRoth/robot-learning). Checkpoints uploaded: best = step 10000, final = step 30000. Raw torch.save dicts with model_state, opt_state, stats.
| step | success | 95% CI |
|---|---|---|
| 5000 | 0.930 | [0.904, 0.949] |
| 10000 | 0.934 | [0.909, 0.953] |
| 30000 | 0.870 | [0.838, 0.897] |
500 held-out seeds (800000-800499), n_action_steps 40, horizon 450
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