| --- |
| 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. |
|
|
