metadata
library_name: lerobot
tags:
- act
- robotics
- lerobot
- bimanual
act_insert_candle
Standard LeRobot ACT trained from scratch on bimanual SO101 data.
| Policy | ACT (policy.type=act) |
| Dataset | villekuosmanen/armnetbench_insert_candle |
| Task | insert_candle |
| Action dim | 12 (bimanual) |
| Cameras | top, left_wrist, right_wrist |
| Training | GCloud A100-80GB (alpha-act-a100-3), batch 16, action horizon 30 |
| Loss @ 10k | 0.149 |
| W&B project | act_insert_candle |
| W&B run | 7dc5r8fi |
Checkpoints
| Step | Path |
|---|---|
| 010000 | checkpoints/010000/pretrained_model/ |
| 008000 | checkpoints/008000/pretrained_model/ |
Usage
from lerobot.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained(
"pravsels/act_insert_candle",
subfolder="checkpoints/010000/pretrained_model",
)