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README.md
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---
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library_name: lerobot
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tags:
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- act
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- robotics
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- lerobot
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---
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# act_tool_insert_20k
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LeRobot ACT policy for `tool_insert` on SO101 data.
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|---|---|
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| **Policy** | ACT (`policy.type=act`) |
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| **Dataset** | [villekuosmanen/armnetbench_tool_insert](https://huggingface.co/datasets/villekuosmanen/armnetbench_tool_insert) |
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| **Task** | `tool_insert` |
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| **Action dim** | 6 (single-arm) |
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| **Cameras** | `top`, `wrist`, `front` |
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| **Training** | 20k total: 10k scratch + 10k warm-start @ bs16 on GCloud A100 (phase-1: pravsels/act_tool_insert) |
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| **Phase-1 checkpoint** | [pravsels/act_tool_insert](https://huggingface.co/pravsels/act_tool_insert) |
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| **W&B project** | [act_tool_insert](https://wandb.ai/pravsels/act_tool_insert) |
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| **W&B run** | [31o7esdo](https://wandb.ai/pravsels/act_tool_insert/runs/31o7esdo) |
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## Checkpoints
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The final checkpoint (local step `010000`, 20k total steps) lives at the **repository root** for direct loading.
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## Usage
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```python
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from lerobot.policies.act.modeling_act import ACTPolicy
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policy = ACTPolicy.from_pretrained("pravsels/act_tool_insert_20k")
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```
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