LeRobot 0.3.3 ACT policy for the RoboSynChallenge simulation task handlebasket (CobotMagic dual-arm robot, three 480x640 RGB cameras, 14-D joint state/action). - Initialised from RoboSynChallenge/ACTsimmixeroperating weights (normalisation statistics recomputed from the task dataset). - Fine-tuned for 14,000 steps on RoboSynChallenge/cobotmagicSimhandlebasket (1000 episodes), batch size 16, lr 1e-5, AMP; default ACT architecture (ResNet-18, dim 512, 4 enc / 1 dec layers, VAE, chunk size 50). - Local check (random setting, seeds 0 and 1, 10 episodes each): 11/20 successes, vs. 5/20 for the released RoboSynChallenge/ACTsimhandlebasket under the same protocol. Evaluate with the…
Independent publisher
Tatsunari Sakai
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Models on Hugging Face1
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Published tasks: Robotics.
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