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README.md

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+---
+language:
+- en
+license: mit
+tags:
+- ACT
+- LeRobot
+- robotics
+- imitation-learning
+- behavior-cloning
+- so101
+pipeline_tag: reinforcement-learning
+library_name: lerobot
+---
+
+# LeRobot SO101 ACT task2-all_bs32_s60000
+
+## Summary
+
+This repository contains the final checkpoint for a ACT policy trained on `aswinkumar99/task2-all` for SO101 sponge pick-and-place experiments.
+
+Dataset meaning: Task 2: Multiple Sponges - No Distractors (all layouts).
+
+This ACT policy was trained for this dataset configuration and was not initialized from a published ACT base checkpoint. The visual backbone uses ImageNet-initialized ResNet-18 weights (`ResNet18_Weights.IMAGENET1K_V1`) as recorded in the training config.
+
+## Training Setup
+
+- Dataset repo: `aswinkumar99/task2-all`
+- Local dataset root during training: `/home/riftuser/datasets_combined/aswinkumar99/task2-all`
+- Output directory during training: `/home/riftuser/outputs_matrix/act/task2-all_bs32_s60000`
+- Batch size: `32`
+- Training steps: `60000`
+- Checkpoint save frequency: `15000`
+- Data loader workers: `8`
+- WandB project: `so101-layout-generalization`
+- GPU: `NVIDIA RTX PRO 6000 Blackwell Max-Q Workstation Edition`
+- Python: `CPython 3.12.13`
+- CUDA: `12.9`
+- Training start: `2026-04-23T21:08:22.306521+00:00`
+- Training end: `2026-04-24T00:14:27`
+- Approximate training duration: `3h 6m 4s`
+
+- Vision backbone: `resnet18`
+- Observation cameras: `observation.images.overhead`, `observation.images.wrist`
+- Action chunk size: `100`
+- Action steps predicted: `100`
+
+## Exact Training Command
+
+```bash
+lerobot-train \
+  --dataset.repo_id=aswinkumar99/task2-all \
+  --dataset.root=/home/riftuser/datasets_combined/aswinkumar99/task2-all \
+  --dataset.video_backend=torchcodec \
+  --output_dir=/home/riftuser/outputs_matrix/act/task2-all_bs32_s60000 \
+  --job_name=act_task2-all_bs32 \
+  --batch_size=32 \
+  --steps=60000 \
+  --log_freq=200 \
+  --save_freq=15000 \
+  --save_checkpoint=true \
+  --num_workers=8 \
+  --wandb.enable=true \
+  --wandb.project=so101-layout-generalization \
+  --wandb.mode=online \
+  --wandb.disable_artifact=true \
+  --policy.type=act \
+  --policy.device=cuda \
+  --policy.push_to_hub=false
+```
+
+## Repository Contents
+
+- `pretrained_model/`: final downloadable model artifacts for inference/loading
+- `training_state/`: optimizer, RNG, scheduler/state, and step information for resuming or auditability
+
+## Notes
+
+- This repo stores the final checkpoint that was uploaded from the cloud training workspace.
+- The checkpoint was trained with LeRobot tooling via `lerobot-train`.
+- For SO101 experiments in this workspace, the dataset source was created by Aswinkumar.
+
+## Creator
+
+Aswinkumar
+
+- Website: [aswinkumar.me](https://aswinkumar.me)
+- Hugging Face repo: <https://huggingface.co/aswinkumar99/LeRobot-SO101-ACT-task2-all_bs32_s60000>