---
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.