act_tool_insert_20k

LeRobot ACT policy for tool_insert 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	20k total: 10k scratch + 10k warm-start @ bs16 on GCloud A100 (phase-1: pravsels/act_tool_insert)
Phase-1 checkpoint	pravsels/act_tool_insert
W&B project	act_tool_insert
W&B run	31o7esdo

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_tool_insert_20k")