| ---
|
| license: apache-2.0
|
| library_name: lerobot
|
| tags:
|
| - robotics
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| - imitation-learning
|
| - aloha
|
| - act
|
| - lerobot
|
| datasets:
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| - lerobot/aloha_sim_transfer_cube_human_image
|
| pipeline_tag: robotics
|
| ---
|
|
|
| # ACT Model for ALOHA TransferCube Task
|
|
|
| A lightweight Action Chunking with Transformers (ACT) model trained on the ALOHA simulation TransferCube task.
|
|
|
| ## Model Description
|
|
|
| | Property | Value |
|
| |----------|-------|
|
| | Architecture | ACT (Action Chunking with Transformers) |
|
| | Parameters | 52M |
|
| | Task | ALOHA TransferCube-v0 |
|
| | Training Steps | 60,000 |
|
| | Batch Size | 32 |
|
| | Success Rate | ~42% |
|
|
|
| ## Training Data
|
|
|
| - **Dataset**: [lerobot/aloha_sim_transfer_cube_human_image](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human_image)
|
| - **Episodes**: 50 human demonstrations
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| - **Frames**: 20,000
|
|
|
| ## Task Description
|
|
|
| The TransferCube task requires a bimanual robot to:
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| 1. Pick up a red cube with the right arm
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| 2. Transfer the cube to the left gripper
|
|
|
| ## Demo Video
|
|
|
| <video controls src="eval_episode_3.mp4" title="TransferCube Demo"></video>
|
|
|
| ## Training Environment
|
|
|
| - **GPU**: RTX A6000
|
| - **Framework**: LeRobot 0.4.3
|
| - **Training Time**: Around 11.5 hours
|
|
|
| ## Usage
|
|
|
| ### Installation
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| ```bash
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| pip install lerobot gym-aloha
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| ```
|
|
|
| ### Training
|
| ```bash
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| lerobot-train \
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| --policy.type=act \
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| --dataset.repo_id=lerobot/aloha_sim_transfer_cube_human_image \
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| --env.type=aloha \
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| --env.task=AlohaTransferCube-v0 \
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| --batch_size=32 \
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| --steps=60000 \
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| --eval_freq=5000 \
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| --output_dir=./outputs/act_aloha_cube_best \
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| --wandb.enable=false \
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| --policy.push_to_hub=false
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| ```
|
|
|
| ### Evaluation
|
| ```bash
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| lerobot-eval \
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| --policy.path=LeTau/act_aloha_transfer_cube \
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| --env.type=aloha \
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| --env.task=AlohaTransferCube-v0 \
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| --eval.batch_size=1 \
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| --eval.n_episodes=20
|
| ```
|
|
|
| ### Fine-tuning
|
| ```bash
|
| lerobot-train \
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| --resume=true \
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| --config_path=LeTau/act_aloha_transfer_cube/train_config.json \
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| --steps=100000
|
| ```
|
|
|
| ## Results
|
|
|
| | Evaluation | Episodes | Success Rate | Avg Sum Reward |
|
| |------------|----------|--------------|----------------|
|
| | Training | 50 | 42% | 116.26 |
|
| | Independent | 20 | 35% | 95.95 |
|
|
|
| **Expected success rate: 35-42%**
|
|
|
|
|
| ## Detailed Evaluation Results (Training)
|
| ```
|
| Sum Rewards: [0.0, 241.0, 57.0, 201.0, 48.0, 0.0, 0.0, 220.0, 262.0, 0.0,
|
| 59.0, 211.0, 287.0, 187.0, 74.0, 2.0, 203.0, 18.0, 10.0, 0.0,
|
| 0.0, 263.0, 7.0, 57.0, 39.0, 214.0, 297.0, 24.0, 0.0, 274.0,
|
| 201.0, 2.0, 228.0, 228.0, 68.0, 290.0, 2.0, 222.0, 31.0, 219.0,
|
| 69.0, 22.0, 0.0, 76.0, 244.0, 227.0, 0.0, 26.0, 192.0, 211.0]
|
|
|
| Successes: 21/50 episodes
|
| ```
|
|
|
|
|
| ## Limitations
|
|
|
| - **Limited training data**: Only 50 demonstration episodes available
|
| - **Moderate success rate**: This is a lightweight baseline model
|
| - **Single task**: Only trained on TransferCube, no multi-task capability
|
|
|
| ## Citation
|
| ```bibtex
|
| @article{zhao2023learning,
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| title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
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| author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
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| journal={arXiv preprint arXiv:2304.13705},
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| year={2023}
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| }
|
| ```
|
|
|
| ## Acknowledgments
|
|
|
| - [LeRobot](https://github.com/huggingface/lerobot) framework by HuggingFace
|
| - [ALOHA](https://tonyzhaozh.github.io/aloha/) project by Stanford |
