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sotata/
act-okura-pick-right-06112026

Name: act-okura-pick-right-06112026
Availability: InStock

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ACT — okura-pick right arm (8-dim)

ACT policy trained on sotata/okura-pick-06102026 (Unitree G1 teleop, right arm 7 DOF + right gripper, head camera only).

Input: head RGB 640x480 (observation.images.cam_left_high) + 8-dim state
Output: 8-dim action, chunk 100
Training: LeRobot 0.4.1 ACT defaults (batch 8, 100k steps), final loss 0.053
W&B: https://wandb.ai/soutamiyajima4-/lerobot-act-okura/runs/z6xpl7vy
Load: --policy.path=sotata/act-okura-pick-right-06112026
Deployment: unitree_lerobot inference side needs the matching right-arm + 1-camera config patch (8-dim, cam_left_high only) in utils/constants.py.
Predecessor (16-dim dual-arm): sotata/act-okura-pick-06102026