act_transfer_cube_20k

LeRobot ACT policy for transfer_cube on SO101 data.

Policy	ACT (policy.type=act)
Dataset	villekuosmanen/armnetbench_transfer_cube
Task	transfer_cube
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_transfer_cube)
Phase-1 checkpoint	pravsels/act_transfer_cube
W&B project	act_transfer_cube
W&B run	nus2ijk5

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_transfer_cube_20k")