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README.md

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+---
+license: apache-2.0
+library_name: lerobot
+tags:
+  - robotics
+  - imitation-learning
+  - aloha
+  - act
+  - lerobot
+datasets:
+  - lerobot/aloha_sim_transfer_cube_human_image
+pipeline_tag: robotics
+---
+
+# ACT Model for ALOHA TransferCube Task
+
+A lightweight Action Chunking with Transformers (ACT) model trained on the ALOHA simulation TransferCube task.
+
+## Model Description
+
+| Property | Value |
+|----------|-------|
+| Architecture | ACT (Action Chunking with Transformers) |
+| Parameters | 52M |
+| Task | ALOHA TransferCube-v0 |
+| Training Steps | 60,000 |
+| Batch Size | 32 |
+| Success Rate | ~42% |
+
+## Training Data
+
+- **Dataset**: [lerobot/aloha_sim_transfer_cube_human_image](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human_image)
+- **Episodes**: 50 human demonstrations
+- **Frames**: 20,000
+
+## Task Description
+
+The TransferCube task requires a bimanual robot to:
+1. Pick up a red cube with the right arm
+2. Transfer the cube to the left gripper
+
+## Training Environment
+
+- **GPU**: RTX A6000
+- **Framework**: LeRobot 0.4.3
+
+## Usage
+
+### Installation
+```bash
+pip install lerobot gym-aloha
+```
+
+### Training
+```bash
+lerobot-train \
+    --policy.type=act \
+    --dataset.repo_id=lerobot/aloha_sim_transfer_cube_human_image \
+    --env.type=aloha \
+    --env.task=AlohaTransferCube-v0 \
+    --batch_size=32 \
+    --steps=60000 \
+    --eval_freq=5000 \
+    --output_dir=./outputs/act_aloha_cube_best \
+    --wandb.enable=false \
+    --policy.push_to_hub=false
+```
+
+### Evaluation
+```bash
+lerobot-eval \
+    --policy.path=LeTau/act_aloha_transfer_cube \
+    --env.type=aloha \
+    --env.task=AlohaTransferCube-v0 \
+    --eval.batch_size=1 \
+    --eval.n_episodes=20
+```
+
+### Fine-tuning
+```bash
+lerobot-train \
+    --resume=true \
+    --config_path=LeTau/act_aloha_transfer_cube/train_config.json \
+    --steps=100000
+```
+
+## Results
+
+| Evaluation | Episodes | Success Rate | Avg Sum Reward |
+|------------|----------|--------------|----------------|
+| Training | 50 | 42% | 116.26 |
+| Independent | 20 | 35% | 95.95 |
+
+**Expected success rate: 35-42%**
+
+<details>
+<summary>Detailed Evaluation Results</summary>
+```
+Sum Rewards: [0.0, 241.0, 57.0, 201.0, 48.0, 0.0, 0.0, 220.0, 262.0, 0.0, 
+              59.0, 211.0, 287.0, 187.0, 74.0, 2.0, 203.0, 18.0, 10.0, 0.0, 
+              0.0, 263.0, 7.0, 57.0, 39.0, 214.0, 297.0, 24.0, 0.0, 274.0, 
+              201.0, 2.0, 228.0, 228.0, 68.0, 290.0, 2.0, 222.0, 31.0, 219.0, 
+              69.0, 22.0, 0.0, 76.0, 244.0, 227.0, 0.0, 26.0, 192.0, 211.0]
+
+Successes: 21/50 episodes
+```
+
+</details>
+
+## Limitations
+
+- **Limited training data**: Only 50 demonstration episodes available
+- **Moderate success rate**: This is a lightweight baseline model
+- **Single task**: Only trained on TransferCube, no multi-task capability
+
+## Citation
+```bibtex
+@article{zhao2023learning,
+  title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
+  author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
+  journal={arXiv preprint arXiv:2304.13705},
+  year={2023}
+}
+```
+
+## Acknowledgments
+
+- [LeRobot](https://github.com/huggingface/lerobot) framework by HuggingFace
+- [ALOHA](https://tonyzhaozh.github.io/aloha/) project by Stanford