---
license: apache-2.0
library_name: lerobot
pipeline_tag: robotics
tags:
  - act
  - lerobot
  - so101
  - leisaac
  - pick-orange
  - isaac-sim
datasets:
  - LightwheelAI/leisaac-pick-orange
language:
  - en
base_model: lerobot/act
---

# ACT-PickOrange

针对 [LeIsaac SO-101 PickOrange](https://github.com/LightwheelAI/leisaac) 任务从头训练的 [ACT (Action Chunking Transformer)](https://tonyzhaozh.github.io/aloha/) 策略。
_An [ACT (Action Chunking Transformer)](https://tonyzhaozh.github.io/aloha/) policy trained from scratch on the [LeIsaac SO-101 PickOrange](https://github.com/LightwheelAI/leisaac) task._

![ACT-PickOrange — SO-101 in Isaac Sim](act-pick-orange.png)

**🔗 项目仓库 / Project repos**：
- [vitorcen/isaaclab-experience](https://github.com/vitorcen/isaaclab-experience) — Isaac Lab + LeIsaac 多策略横评（parent project）
- [vitorcen/LeIsaac-Training](https://github.com/vitorcen/LeIsaac-Training) — LeIsaac fork（训练脚本 + 设计文档 / training scripts + design docs）

## TL;DR

- **任务 / Task**：`Pick up the orange and place it on the plate` — SO-101 单臂依次夹起 3 颗橙子并放盘子。
  _Single-arm SO-101 picks 3 oranges sequentially and places each on a plate._
- **数据集 / Dataset**：[`LightwheelAI/leisaac-pick-orange`](https://huggingface.co/datasets/LightwheelAI/leisaac-pick-orange) — 60 episode 遥操示范。
- **架构 / Architecture**：ACT chunk_size=100，~80M 参数，纯 vision + joint state → action chunk regression（无 LLM / 无 diffusion）。
- **训练 / Training**：batch=8 / lr=1e-5 / 10k step / **关闭图像增强**，~5h on RTX 4090。
- **评测 / Eval**：Isaac Sim 5.1 + LeIsaac，**1/1 success @ 120s sim time**（3 颗全部放盘成功）。
- **⚠️ 关键 inference 配置 / Critical inference setting**：`policy_action_horizon=32`。
  默认值 16 会让模型卡在第二颗橙子（爪子抖），8 会卡在第一颗。详见下方 [Inference caveat](#-推理关键配置--critical-inference-caveat)。

## 模型亮点
_Highlights_

- **复刻 + 验证 [shadowHokage/act_policy](https://huggingface.co/shadowHokage/act_policy) 的配方**，得到等价或更好的成功率。
  _Reproduces and validates the [shadowHokage/act_policy](https://huggingface.co/shadowHokage/act_policy) recipe with comparable or better success rate._
- **暴露了 LeIsaac 默认 `policy_action_horizon=16` 的隐性陷阱**：chunk_size=100 的 ACT 需要 horizon ≥ 32 才能让宏观运动段完整执行，详见 README 的诊断章节。
  _Exposes a hidden trap in LeIsaac's default `policy_action_horizon=16`: ACT models with chunk_size=100 require horizon ≥ 32 to let the macro-motion segment of each chunk execute._
- 无 image augmentation、无 weight decay 调参、无 special trick — 干净的 ACT baseline。

## 训练配方
_Training recipe_

| 项 / Item | 值 / Value |
|---|---|
| Dataset | `LightwheelAI/leisaac-pick-orange` (60 ep, dual-cam 480×640 RGB + 6 DOF state, 30 Hz) |
| Policy | `act` (LeRobot 实现 / LeRobot impl.) |
| Backbone | ResNet18 vision encoder + Transformer encoder/decoder |
| `chunk_size` | 100 |
| `n_action_steps` | 100 |
| Batch size | 8 |
| Optimizer | AdamW |
| Learning rate | 1e-5 (constant) |
| Steps | 10,000 |
| Image augmentation | **disabled** |
| Hardware | RTX 4090 (24 GB) |
| Wall-clock | ~5 hours |
| Recipe credit | [shadowHokage/act_policy](https://huggingface.co/shadowHokage/act_policy) |

训练入口脚本在我们的 LeIsaac fork：[`scripts/training/act/train.sh`](https://github.com/vitorcen/LeIsaac-Training/blob/main/scripts/training/act/train.sh)。
_Training entrypoint script lives in our LeIsaac fork: [`scripts/training/act/train.sh`](https://github.com/vitorcen/LeIsaac-Training/blob/main/scripts/training/act/train.sh)._

## 评测结果
_Eval results_

| 配置 / Config | 第 1 颗 | 第 2 颗 | 第 3 颗 | Episode 成功率 |
|---|---|---|---|---|
| horizon=8  | 🔴 卡死（夹住不动） | — | — | 0/1 |
| horizon=16 | ✅ 成功 | 🟡 爪子抖 / muting | — | 0/1 |
| **horizon=32** | ✅ 成功 | ✅ 折腾后成功 | ✅ 折腾后成功 | **1/1** ✅ |

测试环境 / Test setup：Isaac Sim 5.1，task `LeIsaac-SO101-PickOrange-v0`，`episode_length_s=120`，`step_hz=30`，dual-cam 观测。
_Test setup: Isaac Sim 5.1, task `LeIsaac-SO101-PickOrange-v0`, `episode_length_s=120`, `step_hz=30`, dual-cam observations._

**单 sample 警告 / Single-sample caveat**：以上 1/1 是单一 episode 结果，未跑统计意义上的多轮平均。但 horizon=8 / 16 / 32 三个失败模式的 monotonic 趋势 (失败 → 部分失败 → 成功) 足以做 falsification — 不是模型问题，是配置问题。
_The 1/1 success rate is from a single episode, not statistically averaged. However, the monotonic failure-mode pattern across horizon=8/16/32 (stuck → jitter → success) is sufficient as a falsification: this is a configuration issue, not a model capability issue._

## ⚠️ 推理关键配置 / Critical inference caveat

**ACT chunk_size=100 + 默认 horizon=16 = 第二颗橙子永远过不去。** 这不是 ACT 的弱点，是 LeIsaac 默认配置的隐性陷阱。
_**ACT chunk_size=100 + the default horizon=16 will deadlock on the 2nd orange.** This is not an ACT weakness; it's a hidden trap in LeIsaac's default config._

### 根因 / Root cause

ACT 每个 chunk 输出 100 步动作，是一段**完整规划**：前 ~10 步是"启动 / 加速"，中段 (step 20-80) 才是真正的**宏观运动**（接近 → 夹起 → 提起 → 运送 → 释放）。LeRobot async client 用直接窗口 (receding horizon)，每 `policy_action_horizon` 步重新查询一次。
_Each ACT chunk outputs a 100-step planned trajectory: the first ~10 steps are "startup", and steps 20-80 are the macro-motion (approach → grasp → lift → transport → release). The LeRobot async client uses a sliding window, re-querying every `policy_action_horizon` steps._

- horizon=8 → 每次只执行前 8 步就丢掉重 query → 永远在执行"启动段"，**根本到不了宏观运动** → 卡死。
  _horizon=8 → only the first 8 startup steps are ever executed → the macro-motion never fires → deadlock._
- horizon=16 → 够第 1 颗的简单"靠近→夹起"，但第 2 颗的"放→后退→接近第 2 颗"复杂段需要更长执行窗 → 模型 OOD + 短 horizon 双重打击 → 抖。
  _horizon=16 → enough for the simple "approach → grasp" of orange #1, but the post-1st-orange transition demands a longer execution window → OOD state + short horizon compound → jitter._
- horizon=32 → 给 macro-motion 完整执行机会，1/1 通过。

### 推荐配置 / Recommended settings

```bash
--policy_type=lerobot-act
--policy_action_horizon=32
--policy_checkpoint_path=<path-to-this-model>
--step_hz=30                  # 对齐 dataset 30Hz / matches dataset 30Hz
--episode_length_s=120
```

## 使用方法
_Usage_

### 1. 启动 LeRobot async policy_server

```bash
pip install lerobot
python -m lerobot.async_inference.policy_server --host 0.0.0.0 --port 8080
```

### 2. 客户端启动 LeIsaac eval

通过我们的 [vitorcen/LeIsaac-Training](https://github.com/vitorcen/LeIsaac-Training) fork：

```bash
cd LeIsaac
bash scripts/evaluation/run_eval.sh -- \
    --task=LeIsaac-SO101-PickOrange-v0 \
    --eval_rounds=3 \
    --episode_length_s=120 \
    --step_hz=30 \
    --policy_type=lerobot-act \
    --policy_host=127.0.0.1 --policy_port=8080 \
    --policy_checkpoint_path=wsagi/ACT-PickOrange \
    --policy_action_horizon=32 \
    --policy_language_instruction="Pick up the orange and place it on the plate" \
    --device=cuda --enable_cameras
```

`run_eval.sh` 自动按 user-patience cap 计算 wall-clock timeout，避免无意义等待慢推理。
_`run_eval.sh` auto-computes a user-patience wall-clock timeout so slow inference fails fast._

## 局限性
_Limitations_

- **数据集 OOD on 2nd-3rd orange**：dataset 60 episode × 每集 1 次"放第 N 颗"演示。第 2/3 颗的 state coverage 比第 1 颗稀疏一个数量级，model 在那里 monotonic 变难、动作变"折腾"。即便 horizon=32 救了形式上的成功率，**精度仍随颗数线性退化**。这是数据问题不是模型问题。
  _**Dataset OOD on 2nd–3rd orange**: with 60 episodes × 1 "place N-th orange" demo each, state coverage drops by ~1 order of magnitude per orange. Even at horizon=32 the policy gets visibly more jittery on later oranges. This is a data issue, not a model issue._
- 三个独立架构 (我们的 ACT / Diffusion Policy / SmolVLA / 公开 shadowHokage ACT) 在同一 dataset 上 **共同 OOD on 3rd orange** — 全 family 共病。
- 无图像增强、无 domain randomization → real-world transfer 可能弱。本 ckpt 仅用于 Isaac Sim 仿真验证，不保证真机 deploy。
  _No image augmentation or domain randomization → real-world transfer is likely weak. This checkpoint is only validated in Isaac Sim simulation; real-robot deployment is not guaranteed._

## 相关
_Related_

- 同任务对照 / Same-task comparisons：
  - [`wsagi/DiffusionPolicy-PickOrange`](https://huggingface.co/wsagi/DiffusionPolicy-PickOrange) — 自训 Diffusion Policy (267M, DDIM 32-step swap)
  - [`shadowHokage/act_policy`](https://huggingface.co/shadowHokage/act_policy) — 同配方公开 ckpt（我们的复刻参考）
  - [`LightwheelAI/leisaac-pick-orange-v0`](https://huggingface.co/LightwheelAI/leisaac-pick-orange-v0) — GR00T N1.5 SOTA（30s 完成 3 颗）
- 完整训练 + eval 配方：[vitorcen/LeIsaac-Training](https://github.com/vitorcen/LeIsaac-Training) fork

## 致谢
_Acknowledgments_

- LeIsaac 团队 + LightwheelAI 提供任务环境和数据集
- LeRobot 团队提供 ACT 实现 + async inference 框架
- shadowHokage 公开训练配方作为复刻基线

## 引用
_Citation_

```bibtex
@inproceedings{zhao2023learning,
  title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
  author={Zhao, Tony Z. and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
  booktitle={Robotics: Science and Systems},
  year={2023}
}
```

## License

Apache-2.0