gamzadole/omx_f_box_stacking_act_v1

ACT (Action Chunking Transformer) policy trained with LeRobot.

Task

Pick-and-place with an OpenManipulator-X (omx_f) arm.

Note: the source dataset labels the task as "Stack box on the green zone", but the actual demonstrated behavior is a pick-and-place motion. The label is inherited from data collection and does not affect the policy (single-task dataset).

Training

• Dataset: gamzadole/omx_f_Box_Stacking_v2 (repaired locally — 8 episodes had missing files and meta/tasks.jsonl was absent; usable data: 43 episodes / 15,165 frames)
• Steps: 80,000, batch size 16
• Final training loss ~0.035

Usage

from lerobot.policies.act.modeling_act import ACTPolicy

policy = ACTPolicy.from_pretrained("gamzadole/omx_f_box_stacking_act_v1")