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Suyang99/
xlerobot-act-20260820-step20000

Name: xlerobot-act-20260820-step20000
Availability: InStock

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ACT — right-arm cup grasp (XLeRobot)

Trained with LeRobot ACT on Suyang99/xlerobot-cup-grasp-20260820-0230.


Task	Pick up the cup and place it down — right arm only (`arms: 1.0`)
Dataset	50 episodes / 19,453 frames / 30 fps, 5 cup positions
Policy	ACT, 51.6 M parameters
Checkpoint	step 200001211111 of 20,000
Trained on	Jetson Orin Nano Super (8 GB unified), torch 2.8.0, batch size 2
Cameras	head, left_arm_wrist, right_arm_wrist
Action / state	17-dim (left arm 6 · right arm 6 · head 2 · base 3)

Important: the left arm is parked in this data

Dimensions 0–5 (the left arm) hold a single constant across every frame — the recording ran with arms: 1.0, so the left arm never followed the operator. This policy therefore cannot drive the left arm, and it will not transfer to a left-arm version of the task. A bimanual task needs its own recording with arms: 0.0.

Hardware caveat

The gripper is being replaced (Fin-Ray blade 68 mm → 90 mm). Once that lands, the arm's dynamics change and this checkpoint's real-world behaviour has to be re-measured.

Suyang99/xlerobot-act-20260820-step20000

ACT — right-arm cup grasp (XLeRobot)

Important: the left arm is parked in this data

Hardware caveat

Suyang99/
xlerobot-act-20260820-step20000