act_fold_tea_towel_20k

LeRobot ACT policy for fold_tea_towel on SO101 data.

Policy	ACT (policy.type=act)
Dataset	villekuosmanen/armnetbench_fold_tea_towel
Task	fold_tea_towel
Action dim	12 (bimanual)
Cameras	top, left_wrist, right_wrist
Training	20k total: 10k scratch + 10k warm-start @ bs16 on GCloud A100 (phase-1: pravsels/act_fold_tea_towel)
Phase-1 checkpoint	pravsels/act_fold_tea_towel
W&B project	act_fold_tea_towel
W&B run	q8g86px9

Checkpoints

The final checkpoint (local step 010000, 20k total steps) lives at the repository root for direct loading.

Usage

from lerobot.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained("pravsels/act_fold_tea_towel_20k")