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license: apache-2.0
tags:
- lerobot
- lehome
- act
- robotics
---
# ACT Policy For LeHome Challenge
This repository contains a LeRobot-format ACT checkpoint exported from:
- Experiment: `outputs/train/act_top_longee_depth_bs32`
- Checkpoint: `outputs/train/act_top_longee_depth_bs32/checkpoints/0000125000`
- Team: `HandX`
- Registration ID: `r26`
- Contact: `xtli312@163.com`
## Expected Layout
- `pretrained_model/`
- `train_act_1.yaml`
- `LEHOME_REPO_README.md`
## Evaluation
Use this checkpoint with the LeHome evaluation script:
```bash
python -m scripts.eval \
--policy_type lerobot \
--policy_path "<downloaded_bundle>/pretrained_model" \
--dataset_root "Datasets/example/top_long_merged" \
--garment_type "custom" \
--num_episodes 5 \
--task_description "fold the garment on the table" \
--enable_cameras \
--device cpu
```
## Required Dependencies
- Python 3.11
- Isaac Sim 5.1.0
- Isaac Lab 2.3.1
- `lerobot`
- LeHome repository source code
## Notes
- The challenge organizers also need the official assets and dataset metadata.
- If you upload this bundle to Hugging Face, point the Google Form `Policy Submission` field to that repository URL.
- Local self-reported evaluation on `Release_test_list.txt` with 5 episodes per garment:
- Total Episodes: `15`
- Average Return: `183.60 +- 67.87`
- Success Rate: `20.00%`
- `Top_Long_Seen_6`: `20.00%` success, `224.89` avg return
- `Top_Long_Seen_7`: `0.00%` success, `205.17` avg return
- `Top_Long_Unseen_1`: `40.00%` success, `120.74` avg return
- Generated on 2026-04-02T12:02:18.
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