---
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

```bash
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
```