act_block_stack

Standard LeRobot ACT trained from scratch on SO101 data.

Policy	ACT (policy.type=act)
Dataset	villekuosmanen/armnetbench_block_stack
Task	block_stack
Action dim	6 (single-arm)
Cameras	top, wrist, front
Training	GCloud A100-80GB (alpha-act-a100-1), batch 16, action horizon 30
Loss @ 10k	0.163
W&B project	act_block_stack
W&B run	6hzd0rjl

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_block_stack")