metadata
library_name: lerobot
tags:
- act
- robotics
- lerobot
act_block_stack_20k
LeRobot ACT policy for block_stack on SO101 data.
| Policy | ACT (policy.type=act) |
| Dataset | villekuosmanen/armnetbench_block_stack |
| Task | block_stack |
| Action dim | 6 (single-arm) |
| Cameras | top, wrist, front |
| Training | 20k total: 10k scratch + 10k warm-start @ bs16 on GCloud A100 (phase-1: pravsels/act_block_stack) |
| Phase-1 checkpoint | pravsels/act_block_stack |
| W&B project | act_block_stack |
| W&B run | uk5gu3wt |
Checkpoints
The final checkpoint (local step 010000, 20k total steps) lives at the repository root for direct loading.
Usage
from lerobot.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained("pravsels/act_block_stack_20k")