| --- |
| 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](https://huggingface.co/datasets/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](https://wandb.ai/pravsels/act_insert_candle) | |
| | **W&B run** | [7dc5r8fi](https://wandb.ai/pravsels/act_insert_candle/runs/7dc5r8fi) | |
|
|
| ## Checkpoints |
|
|
| | Step | Path | |
| |------|------| |
| | 010000 | `checkpoints/010000/pretrained_model/` | |
| | 008000 | `checkpoints/008000/pretrained_model/` | |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.policies.act.modeling_act import ACTPolicy |
| policy = ACTPolicy.from_pretrained( |
| "pravsels/act_insert_candle", |
| subfolder="checkpoints/010000/pretrained_model", |
| ) |
| ``` |
|
|
