metadata
library_name: lerobot
tags:
- lerobot
- act
- robotics
- aloha
datasets:
- lerobot/aloha_sim_transfer_cube_scripted
ACT — C3_transfer_cube_scripted
ACT trained with LeRobot (ba83e4c, official ACT hyperparameters: batch 8, lr 1e-5, chunk 100, 100k steps) on one RTX 5090.
- Dataset:
lerobot/aloha_sim_transfer_cube_scripted - Eval:
aloha/AlohaTransferCube-v0, 200 episodes → 93.0% success (186/200, 95% Wilson CI 88.6–95.8) - Full benchmark, logs and reproduction scripts: https://github.com/Jerryisqx/ACT-5090-benchmark
lerobot-eval --policy.path=LUC1O/act-5090-C3_transfer_cube_scripted --env.type=aloha --env.task=AlohaTransferCube-v0 --eval.n_episodes=50 --eval.use_async_envs=false