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---

datasets:
- lerobot/pusht
library_name: lerobot
license: apache-2.0
model_name: act
pipeline_tag: robotics
tags:
- lerobot
- robotics
- act
- pusht
- imitation-learning
- baseline

---

# 🤖 ACT for Push-T (Baseline Benchmark)

[![LeRobot](https://img.shields.io/badge/Library-LeRobot-yellow)](https://github.com/huggingface/lerobot)
[![Task](https://img.shields.io/badge/Task-Push--T-blue)](https://huggingface.co/datasets/lerobot/pusht)
[![UESTC](https://img.shields.io/badge/Author-UESTC_Graduate-red)](https://www.uestc.edu.cn/)
[![License](https://img.shields.io/badge/License-Apache_2.0-green)](https://www.apache.org/licenses/LICENSE-2.0)

## 🎯 Research Purpose

**Important Note:** This model was trained primarily for **academic comparison**—evaluating the performance difference between **ACT** and **Diffusion Policy** algorithms under identical training conditions (using the `lerobot/pusht` dataset). This is a benchmark experiment designed to analyze different algorithms' learning capabilities for this specific manipulation task, **not to train a highly successful practical model**.

> **Summary:** This model represents the **ACT (Action Chunking with Transformers)** baseline trained on the Push-T task. It serves as a comparative benchmark for our research on Diffusion Policies. Despite 200k steps of training, ACT struggled to model the multimodal action distribution required for high-precision alignment in this task.

- **🧩 Task**: Push-T (Simulated)
- **🧠 Algorithm**: [ACT](https://arxiv.org/abs/2304.13705) (Action Chunking with Transformers)
- **🔄 Training Steps**: 200,000
- **🎓 Author**: Graduate Student, **UESTC** (University of Electronic Science and Technology of China)

---

## 🔬 Benchmark Results (Baseline)

This model establishes the baseline performance. Unlike Diffusion Policy, ACT tends to average out multimodal action possibilities, leading to "stiff" behavior or failure to perform fine-grained adjustments at the boundaries.

### 📊 Evaluation Metrics (50 Episodes)

| Metric | Value | Interpretation | Status |
| :--- | :---: | :--- | :---: |
| **Success Rate** | **0.0%** | Failed to meet the strict >95% overlap criteria. | ❌ |
| **Avg Max Reward** | **0.51** | Partially covers the target (~50%), but lacks precision. | 🚧 |
| **Avg Sum Reward** | **55.48** | Trajectories are valid but often stall or drift. | 📉 |

> **Analysis:** While the model learned the general reaching and pushing motion (Reward > 0.5), it consistently failed the final stage of the task. This highlights ACT's limitation in handling tasks requiring high-precision correction from multimodal demonstrations compared to Generative Policies.

---

## ⚙️ Model Details

| Parameter | Description |
| :--- | :--- |
| **Architecture** | ResNet18 (Backbone) + Transformer Encoder-Decoder |
| **Action Chunking** | 100 steps |
| **VAE Enabled** | Yes (Latent Dim: 32) |
| **Input** | Single Camera (84x84) + Agent Position |

---

## 🔧 Training Configuration

For reproducibility, here are the key parameters used during the training session.

- **Batch Size**: 64
- **Optimizer**: AdamW (`lr=2e-5`)
- **Scheduler**: Constant
- **Vision**: ResNet18 (Pretrained ImageNet)
- **Precision**: Mixed Precision (AMP) enabled

### Original Training Command (My Training Mode)

```bash
python -m lerobot.scripts.lerobot_train
  --config_path act_pusht.yaml
  --dataset.repo_id lerobot/pusht
  --job_name aloha_sim_insertion_human_ACT_PushT
  --wandb.enable true
  --policy.repo_id Lemon-03/ACT_PushT_test
```

### act_pusht.yaml

<details>
<summary>📄 <strong>Click to view full <code>act_pusht.yaml</code> configuration</strong></summary>

```yaml
# @package _global_

# Basic Settings
seed: 100000
job_name: ACT-PushT
steps: 200000
eval_freq: 10000
save_freq: 50000
log_freq: 250
batch_size: 64

# Dataset
dataset:
  repo_id: lerobot/pusht

# Evaluation
eval:
  n_episodes: 50
  batch_size: 8

# Environment
env:
  type: pusht
  task: PushT-v0
  fps: 10

# Policy Configuration
policy:
  type: act

  # Vision Backbone
  vision_backbone: resnet18
  pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
  replace_final_stride_with_dilation: false
  
  # Transformer Params
  pre_norm: false
  dim_model: 512
  n_heads: 8
  dim_feedforward: 3200
  feedforward_activation: relu
  n_encoder_layers: 4
  n_decoder_layers: 1
  
  # VAE Params
  use_vae: true
  latent_dim: 32
  n_vae_encoder_layers: 4

  # Action Chunking
  chunk_size: 100
  n_action_steps: 100
  n_obs_steps: 1

  # Training & Loss
  dropout: 0.1
  kl_weight: 10.0
  
  # Optimizer
  optimizer_lr: 2e-5
  optimizer_lr_backbone: 2e-5
  optimizer_weight_decay: 2e-4
  
  use_amp: true
```
</details>

-----

## 🚀 Evaluate (My Evaluation Mode)

Run the following command in your terminal to evaluate the model for 50 episodes and save the visualization videos:

```bash
python -m lerobot.scripts.lerobot_eval \
  --policy.type act \
  --policy.pretrained_path outputs/train/2025-12-02/00-28-32_pusht_ACT_PushT/checkpoints/last/pretrained_model \
  --eval.n_episodes 50 \
  --eval.batch_size 10 \
  --env.type pusht \
  --env.task PushT-v0
```

To evaluate this model locally, run the following command:

```bash
python -m lerobot.scripts.lerobot_eval \
  --policy.type act \
  --policy.pretrained_path Lemon-03/pusht_ACT_PushT_test \
  --eval.n_episodes 50 \
  --eval.batch_size 10 \
  --env.type pusht \
  --env.task PushT-v0
```