metadata
library_name: lerobot
tags:
- act
- robotics
- lerobot
- bimanual
act_transfer_cube_20k
LeRobot ACT policy for transfer_cube 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 | 20k total: 10k scratch + 10k warm-start @ bs16 on GCloud A100 (phase-1: pravsels/act_transfer_cube) |
| Phase-1 checkpoint | pravsels/act_transfer_cube |
| W&B project | act_transfer_cube |
| W&B run | nus2ijk5 |
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_transfer_cube_20k")