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.
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