act_insert_candle

Standard LeRobot ACT trained from scratch on bimanual SO101 data.

Policy	ACT (policy.type=act)
Dataset	villekuosmanen/armnetbench_insert_candle
Task	insert_candle
Action dim	12 (bimanual)
Cameras	top, left_wrist, right_wrist
Training	GCloud A100-80GB (alpha-act-a100-3), batch 16, action horizon 30
Loss @ 10k	0.149
W&B project	act_insert_candle
W&B run	7dc5r8fi

Checkpoints

Step	Path
010000	checkpoints/010000/pretrained_model/
008000	checkpoints/008000/pretrained_model/

Usage

from lerobot.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained(
    "pravsels/act_insert_candle",
    subfolder="checkpoints/010000/pretrained_model",
)