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| 项目 | 值 |
|---|---|
| 策略 | ACT (vision: ResNet18, chunk_size=100) |
| 机型 | SO-100 / so_follower,6 关节 |
| 相机 | 单路前置 (observation.images.front) |
| 输入分辨率 | 540×960 (从 1080p 缩放) |
| 训练步数 | 300,000 |
| Batch size | 8 |
| 最终 loss | 0.046 |
| 训练轮数 | ~82 epoch |
| fps | 30 |
| 硬件 | RTX 5080 (CUDA 12.8, torch 2.11) |
Yunrufeng000/test_blue, test_blue1Yunrufeng000/test_green, test_green1Yunrufeng000/test_red, test_red1Yunrufeng000/test_yellow, test_yellow11from lerobot.policies.act.modeling_act import ACTPolicy
2
3policy = ACTPolicy.from_pretrained("Yunrufeng000/act_so100_4colors_540p")
4# 推理前记得把相机画面 resize 到 (540, 960)