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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 task2task3-all_bs32_s60000
## Summary
This repository contains the final checkpoint for a ACT policy trained on `aswinkumar99/task2task3-all` for SO101 sponge pick-and-place experiments.
Dataset meaning: Task 2 + Task 3 combined (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/task2task3-all`
- Local dataset root during training: `/home/riftuser/datasets_combined/aswinkumar99/task2task3-all`
- Output directory during training: `/home/riftuser/outputs_matrix/act/task2task3-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: `2026-04-24T06:40:40.756268+00:00`
- Training end: `2026-04-24T09:52:13`
- Approximate training duration: `3h 11m 32s`
- 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/task2task3-all \
--dataset.root=/home/riftuser/datasets_combined/aswinkumar99/task2task3-all \
--dataset.video_backend=torchcodec \
--output_dir=/home/riftuser/outputs_matrix/act/task2task3-all_bs32_s60000 \
--job_name=act_task2task3-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-task2task3-all_bs32_s60000>
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