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cube_pnp_d2_act_r1
DreamMachines/cube_pnp_d2_act_r1
cube_pnp_d2_act_r1 is a robotics model from DreamMachines. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
ACT (Action Chunking with Transformers) — imitation learning that predicts short action chunks instead of single steps. See the paper.
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Jun 8, 2026
- Updated
- Jun 8, 2026
- SHA
- c5453ea2
Datasets
Model card
From the Hugging Face model README
cube_pnp/d2_act_r1
ACT (Action Chunking with Transformers) — imitation learning that predicts short action chunks instead of single steps. See the paper.
Trained with LeDream (a fork of LeRobot).
Training
- Dataset:
DreamMachines/cube_pnp_view_d2 - Step (this revision):
80000 - Batch size:
32 - Total steps target:
80000 - Optimizer:
adamw(lr3e-05)
Available revisions
Every training checkpoint is uploaded as its own git revision; the latest is also on main. Load a specific step with:
from lerobot.policies.factory import make_policy
from lerobot.configs.policies import PreTrainedConfig
cfg = PreTrainedConfig.from_pretrained("DreamMachines/cube_pnp_d2_act_r1", revision="v002000")
policy = make_policy(cfg)
Available: v080000
Quick eval on a real DK1
make eval MODEL=DreamMachines/cube_pnp_d2_act_r1
See docs/source/policy_pi05_README.md for π₀.₅-specific notes.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jun 8, 2026
- Updated
- Jun 8, 2026