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# https://github.com/huggingface/huggingface.jsact_tool_insert_20k
LeRobot ACT policy for tool_insert on SO101 data.
| Policy | ACT (policy.type=act) |
| Dataset | 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 |
| W&B project | act_tool_insert |
| W&B run | 31o7esdo |
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_tool_insert_20k")
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