ACT — C4_insertion_scripted
ACT trained with LeRobot (ba83e4c, official ACT hyperparameters: batch 8, lr 1e-5, chunk 100, 100k steps) on one RTX 5090.
- Dataset:
lerobot/aloha_sim_insertion_scripted - Eval:
aloha/AlohaInsertion-v0, 200 episodes → 64.0% success (128/200, 95% Wilson CI 57.1–70.3) - Full benchmark, logs and reproduction scripts: https://github.com/Jerryisqx/ACT-5090-benchmark
lerobot-eval --policy.path=LUC1O/act-5090-C4_insertion_scripted --env.type=aloha --env.task=AlohaInsertion-v0 --eval.n_episodes=50 --eval.use_async_envs=false
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