| --- |
| library_name: lerobot |
| tags: |
| - act |
| - robotics |
| - lerobot |
|
|
| --- |
| |
| # act_tool_insert |
|
|
| Standard LeRobot ACT trained from scratch on SO101 data. |
|
|
| | | | |
| |---|---| |
| | **Policy** | ACT (`policy.type=act`) | |
| | **Dataset** | [villekuosmanen/armnetbench_tool_insert](https://huggingface.co/datasets/villekuosmanen/armnetbench_tool_insert) | |
| | **Task** | `tool_insert` | |
| | **Action dim** | 6 (single-arm) | |
| | **Cameras** | `top`, `wrist`, `front` | |
| | **Training** | GCloud A100-80GB (alpha-act-a100-4), batch 16, action horizon 30 | |
| | **Loss @ 10k** | 0.169 | |
| | **W&B project** | [act_tool_insert](https://wandb.ai/pravsels/act_tool_insert) | |
| | **W&B run** | [c6sk4w3m](https://wandb.ai/pravsels/act_tool_insert/runs/c6sk4w3m) | |
|
|
| ## Checkpoints |
|
|
| Archived copies: |
|
|
| | Step | Path | |
| |------|------| |
| | 010000 | `checkpoints/010000/pretrained_model/` | |
| | 008000 | `checkpoints/008000/pretrained_model/` | |
|
|
| The latest step (`010000`) is also copied to the **repository root** for direct loading. |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.policies.act.modeling_act import ACTPolicy |
| policy = ACTPolicy.from_pretrained("pravsels/act_tool_insert") |
| ``` |
|
|
