ACT — C5b_pusht_chunk20
ACT trained with LeRobot (ba83e4c, official ACT hyperparameters: batch 8, lr 1e-5, chunk 20, 100k steps) on one RTX 5090.
- Dataset:
lerobot/pusht - Eval:
pusht/PushT-v0, 200 episodes → 23.0% success (46/200, 95% Wilson CI 17.7–29.3) - Full benchmark, logs and reproduction scripts: https://github.com/Jerryisqx/ACT-5090-benchmark
lerobot-eval --policy.path=LUC1O/act-5090-C5b_pusht_chunk20 --env.type=pusht --env.task=PushT-v0 --eval.n_episodes=50 --eval.use_async_envs=false
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