| --- |
| 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 `join_blocks` 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 | |
| |---|---|---| |
| | join_blocks | 2.3 | [1.1, 4.7] | |
| |
| ## Usage |
| ```python |
| # LeRobot at commit c8ce413d |
| from lerobot.policies.act.modeling_act import ACTPolicy |
|
|
| policy = ACTPolicy.from_pretrained("RobotControlStack/duobench-act-sim-join_blocks") |
| ``` |
| 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} |
| } |
| ``` |
| |
