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LeTau
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diffusion_aloha_insertion

Robotics
LeRobot
Safetensors
imitation-learning
aloha
diffusion-policy
baseline
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  | Task | ACT | Diffusion Policy |
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  |------|-----|------------------|
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  | TransferCube (Easy) | **42%** | 10% |
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- | Insertion (Hard) | **15%** | 10% |
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  **ACT consistently outperforms Diffusion Policy on ALOHA bimanual tasks.**
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  | Task | ACT | Diffusion Policy |
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  |------|-----|------------------|
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  | TransferCube (Easy) | **42%** | 10% |
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+ | Insertion (Hard) | **15%** | 0% |
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  **ACT consistently outperforms Diffusion Policy on ALOHA bimanual tasks.**
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