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act_so100_reach
jaheroth/act_so100_reach
act_so100_reach is a robotics model from jaheroth. 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.
Reference LeRobot ACT trained on jaheroth/so100reach (scripted-expert reach task on a simulated SO-100, MuJoCo). chunksize=50, nactionsteps=16, ndecoderlayers=7, lr 2e-5, batch 64. Stopped at 43k steps (loss plateau ~…
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Updated Sep 3, 2026
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Sep 3, 2026
- Updated
- Sep 3, 2026
- SHA
- 6fc1cb31
Datasets
Model card
From the Hugging Face model README
act_so100_reach
Reference LeRobot ACT trained on jaheroth/so100_reach (scripted-expert reach task on a simulated SO-100, MuJoCo). chunk_size=50, n_action_steps=16, n_decoder_layers=7, lr 2e-5, batch 64. Stopped at 43k steps (loss plateau ~0.014, ~325 epochs); checkpoints at 20k and 40k. Part of https://github.com/JaHeRoth/robot-learning
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Sep 3, 2026
- Updated
- Sep 3, 2026