act_tool_removal_20k

pravsels/act_tool_removal_20k

act_tool_removal_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 toolremoval 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: 392b3f62

Model card

From the Hugging Face model README

act_tool_removal_20k

LeRobot ACT policy for tool_removal on SO101 data.


Policy	ACT (`policy.type=act`)
Dataset	villekuosmanen/armnetbench_tool_removal
Task	`tool_removal`
Action dim	6 (single-arm)
Cameras	`top`, `wrist`, `front`
Training	20k total: 10k scratch + 10k warm-start @ bs16 on GCloud A100 (phase-1: pravsels/act_tool_removal)
Phase-1 checkpoint	pravsels/act_tool_removal
W&B project	act_tool_removal
W&B run	2z890mvw

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_tool_removal_20k")

Task: Robotics
Library: lerobot
Created: Jun 26, 2026
Updated: Jun 26, 2026