| --- |
| library_name: lerobot |
| tags: |
| - act |
| - robotics |
| - lerobot |
|
|
| --- |
| |
| # act_tool_insert_20k |
| |
| LeRobot ACT policy for `tool_insert` 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** | 20k total: 10k scratch + 10k warm-start @ bs16 on GCloud A100 (phase-1: pravsels/act_tool_insert) | |
| | **Phase-1 checkpoint** | [pravsels/act_tool_insert](https://huggingface.co/pravsels/act_tool_insert) | |
| | **W&B project** | [act_tool_insert](https://wandb.ai/pravsels/act_tool_insert) | |
| | **W&B run** | [31o7esdo](https://wandb.ai/pravsels/act_tool_insert/runs/31o7esdo) | |
|
|
| ## Checkpoints |
|
|
| The final checkpoint (local step `010000`, 20k total steps) lives at the **repository root** for direct loading. |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.policies.act.modeling_act import ACTPolicy |
| policy = ACTPolicy.from_pretrained("pravsels/act_tool_insert_20k") |
| ``` |
|
|
