---
license: apache-2.0
library_name: lerobot
pipeline_tag: robotics
datasets:
- RobotControlStack/duobench
tags:
- duobench
- bimanual
- manipulation
- simulation
- act
---

# DuoBench ACT (sim)

ACT policy for the bimanual FR3 Duo setup of [DuoBench](https://arxiv.org/abs/2606.11901), trained on simulation data only for the DuoBench `ball_maze` sim task (single-task policy).
Trained from scratch with [LeRobot](https://github.com/huggingface/lerobot) on the [DuoBench dataset](https://huggingface.co/datasets/RobotControlStack/duobench).

Project page: https://duobench.github.io/
DuoBench Code: https://github.com/RobotControlStack/duobench

## Training
- Data: 50 demonstrations per task from the `<task>/sim` folders of [RobotControlStack/duobench](https://huggingface.co/datasets/RobotControlStack/duobench)
- Inputs: `head`, `left_wrist` and `right_wrist` cameras (224x224) and the 16-D state (2 x 7 joints + 2 grippers); output: 16-D joint and gripper action
- 150,000 steps, batch size 64, learning rate 1e-5, action chunk 100, seed 1000
- LeRobot commit [`c8ce413d`](https://github.com/huggingface/lerobot/tree/c8ce413d738da15a2eed2d0832315779ea28cbf9); the full configuration is in `train_config.json`

## Results
Success rate (%) in DuoBench simulation over 300 rollouts per task (seeds 0-299) with a Wilson 95% interval.

| Task | Success | 95% CI |
|---|---|---|
| ball_maze | 8.0 | [5.4, 11.6] |

## Usage
```python
# LeRobot at commit c8ce413d
from lerobot.policies.act.modeling_act import ACTPolicy

policy = ACTPolicy.from_pretrained("RobotControlStack/duobench-act-sim-ball_maze")
```
See the [DuoBench code](https://github.com/RobotControlStack/duobench) for the simulation environments and evaluation.

## Limitations
- Trained on simulation data only; not meant for the real robot.
- Loading needs a LeRobot version compatible with the commit above.

## Citation
If you find this model or DuoBench useful for your work, please consider citing it:
```
@misc{duobench,
  title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
  author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
  year={2026},
  url={https://arxiv.org/abs/2606.11901}
}
```