metadata
library_name: lerobot
tags:
- act
- robotics
- lerobot
- bimanual
act_transfer_cube
Standard LeRobot ACT trained from scratch on SO101 data.
| Policy | ACT (policy.type=act) |
| Dataset | villekuosmanen/armnetbench_transfer_cube |
| Task | transfer_cube |
| Action dim | 12 (bimanual) |
| Cameras | top, left_wrist, right_wrist |
| Training | GCloud A100-80GB (alpha-act-a100-3), batch 16, action horizon 30 |
| Loss @ 10k | 0.166 |
| W&B project | act_transfer_cube |
| W&B run | va8dy7k8 |
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
from lerobot.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained("pravsels/act_transfer_cube")