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act_flip_v1_counterroll_wristA
v1 counter-roll expert + wrist camera pose A
Jacob's from-scratch ACT (scripts/act.py, scripts/train_act.py in https://github.com/JaHeRoth/robot-learning). Checkpoints uploaded: best = step 30000, final = step 30000. Raw torch.save dicts with model_state, opt_state, stats.
| step | success | 95% CI |
|---|---|---|
| 5000 | 0.560 | [0.516, 0.603] |
| 10000 | 0.718 | [0.677, 0.756] |
| 20000 | 0.610 | [0.567, 0.652] |
| 30000 | 0.852 | [0.818, 0.880] |
500 held-out seeds (800000-800499), n_action_steps 40, horizon 450
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