python -m scripts.eval \
    --policy_type lerobot \
    --policy_path "<downloaded_bundle>/pretrained_model" \
    --dataset_root "Datasets/example/top_long_merged" \
    --garment_type "custom" \
    --num_episodes 5 \
    --task_description "fold the garment on the table" \
    --enable_cameras \
    --device cpu

Required Dependencies

Python 3.11
Isaac Sim 5.1.0
Isaac Lab 2.3.1
lerobot
LeHome repository source code

Notes

The challenge organizers also need the official assets and dataset metadata.
If you upload this bundle to Hugging Face, point the Google Form Policy Submission field to that repository URL.
Local self-reported evaluation on Release_test_list.txt with 5 episodes per garment:
- Total Episodes: 15
- Average Return: 183.60 +- 67.87
- Success Rate: 20.00%
- Top_Long_Seen_6: 20.00% success, 224.89 avg return
- Top_Long_Seen_7: 0.00% success, 205.17 avg return
- Top_Long_Unseen_1: 40.00% success, 120.74 avg return
Generated on 2026-04-02T12:02:18.

xtli/lehome

ACT Policy For LeHome Challenge

Expected Layout

Evaluation

Required Dependencies

Notes

xtli/
lehome