act_tool_insert

Standard LeRobot ACT trained from scratch on SO101 data.

Policy	ACT (policy.type=act)
Dataset	villekuosmanen/armnetbench_tool_insert
Task	tool_insert
Action dim	6 (single-arm)
Cameras	top, wrist, front
Training	GCloud A100-80GB (alpha-act-a100-4), batch 16, action horizon 30
Loss @ 10k	0.169
W&B project	act_tool_insert
W&B run	c6sk4w3m

Checkpoints

Archived copies:

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

The latest step (010000) is also copied to the repository root for direct loading.

Usage

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