---
tags: [robotics, lerobot, act, xlerobot, bimanual]
library_name: lerobot
pipeline_tag: robotics
license: apache-2.0
---

# ACT — right-arm cup grasp (XLeRobot)

Trained with [LeRobot](https://github.com/huggingface/lerobot) ACT on
[`Suyang99/xlerobot-cup-grasp-20260820-0230`](https://huggingface.co/datasets/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.