NEXTAGE Forceps ACT
ACT policy checkpoints for the NEXTAGE task of handing forceps to a hand.
Training
- Dataset: Michi-Tsubaki/hand_over_the_forceps_to_the_hand
- Architecture: ACT (Action Chunking with Transformers)
- Training split: first 45 of 50 episodes
- Training steps: 5,000
- Checkpoint interval: 1,000 steps
- Action chunk size: 60
- Batch size: 256
- Image inputs: top and right-wrist cameras, resized to 360 x 480
- State/action dimensions: 17
- Vision backbone: ResNet-18 with ImageNet pretrained weights
The root model.safetensors and config.json are the final checkpoint at step 5,000. The complete checkpoint history is available in checkpoint_001000 through checkpoint_005000. stats.npz contains the dataset statistics used by the training and evaluation pipeline, and train_args.json records the complete training arguments.
Loading the final checkpoint
from huggingface_hub import snapshot_download
from lerobot.policies.act.modeling_act import ACTPolicy
checkpoint_dir = snapshot_download("Michi-Tsubaki/nextage_forceps_act")
policy = ACTPolicy.from_pretrained(checkpoint_dir)
To load an intermediate checkpoint, pass its downloaded subdirectory to ACTPolicy.from_pretrained, for example checkpoint_003000.
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