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act_insert_candle_20k
pravsels/act_insert_candle_20k
act_insert_candle_20k is a robotics model from pravsels. 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.
LeRobot ACT policy for insertcandle on SO101 data.
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At a glance
- Task
- Robotics
- Library
- lerobot
- Access
- Public
- Created
- Jun 26, 2026
- Updated
- Jun 26, 2026
- SHA
- 76fc596f
Model card
From the Hugging Face model README
act_insert_candle_20k
LeRobot ACT policy for insert_candle on SO101 data.
| Policy | ACT (policy.type=act) |
| Dataset | villekuosmanen/armnetbench_insert_candle |
| Task | insert_candle |
| 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_insert_candle) |
| Phase-1 checkpoint | pravsels/act_insert_candle |
| W&B project | act_insert_candle |
| W&B run | rghwq6y2 |
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_insert_candle_20k")
- Task
- Robotics
- Library
- lerobot
- Created
- Jun 26, 2026
- Updated
- Jun 26, 2026