Instructions to use lerobot/act_aloha_sim_transfer_cube_human with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- Transformers
How to use lerobot/act_aloha_sim_transfer_cube_human with Transformers:
# Load model directly from transformers import AutoModel model = AutoModel.from_pretrained("lerobot/act_aloha_sim_transfer_cube_human", dtype="auto") - Notebooks
- Google Colab
- Kaggle
| Step,train/loss | |
| 0,79.7888488769531 | |
| 250,3.57909274101257 | |
| 500,2.51398324966431 | |
| 750,1.99860143661499 | |
| 1000,1.92370533943176 | |
| 1250,1.6389434337616 | |
| 1500,1.48956644535065 | |
| 1750,1.41418826580048 | |
| 2000,1.33175086975098 | |
| 2250,1.16387403011322 | |
| 2500,0.844272971153259 | |
| 2750,1.01423859596252 | |
| 3000,0.745670735836029 | |
| 3250,0.582028746604919 | |
| 3500,0.595091581344605 | |
| 3750,0.539927482604981 | |
| 4000,0.48273903131485 | |
| 4250,0.404657542705536 | |
| 4500,0.392045736312866 | |
| 4750,0.321022391319275 | |
| 5000,0.30516791343689 | |
| 5250,0.322307497262955 | |
| 5500,0.257186353206635 | |
| 5750,0.258949279785156 | |
| 6000,0.296675741672516 | |
| 6250,0.234075054526329 | |
| 6500,0.219132736325264 | |
| 6750,0.22928649187088 | |
| 7000,0.164520353078842 | |
| 7250,0.225510522723198 | |
| 7500,0.208913147449493 | |
| 7750,0.18232549726963 | |
| 8000,0.168658345937729 | |
| 8250,0.193666532635689 | |
| 8500,0.180914685130119 | |
| 8750,0.175622373819351 | |
| 9000,0.163990154862404 | |
| 9250,0.16360367834568 | |
| 9500,0.150922983884811 | |
| 9750,0.158479154109955 | |
| 10000,0.162343516945839 | |
| 10250,0.166933089494705 | |
| 10500,0.149060815572739 | |
| 10750,0.119516678154469 | |
| 11000,0.127875775098801 | |
| 11250,0.139402508735657 | |
| 11500,0.110807619988918 | |
| 11750,0.139484018087387 | |
| 12000,0.138556450605392 | |
| 12250,0.127741247415543 | |
| 12500,0.105274997651577 | |
| 12750,0.114856421947479 | |
| 13000,0.13393047451973 | |
| 13250,0.0873593688011169 | |
| 13500,0.104018032550812 | |
| 13750,0.119365446269512 | |
| 14000,0.10003138333559 | |
| 14250,0.132293403148651 | |
| 14500,0.111052460968494 | |
| 14750,0.110919520258904 | |
| 15000,0.100171685218811 | |
| 15250,0.125589460134506 | |
| 15500,0.119298055768013 | |
| 15750,0.105977408587933 | |
| 16000,0.0938382297754288 | |
| 16250,0.104511685669422 | |
| 16500,0.105887413024902 | |
| 16750,0.0962035953998566 | |
| 17000,0.0928752571344376 | |
| 17250,0.0956628620624542 | |
| 17500,0.108392052352428 | |
| 17750,0.104693546891212 | |
| 18000,0.0853313803672791 | |
| 18250,0.1128756031394 | |
| 18500,0.0798927620053291 | |
| 18750,0.10439059138298 | |
| 19000,0.0953822433948517 | |
| 19250,0.0917094722390175 | |
| 19500,0.0821464210748673 | |
| 19750,0.101128958165646 | |
| 20000,0.0818878561258316 | |
| 20250,0.0997297689318657 | |
| 20500,0.0902212932705879 | |
| 20750,0.0718410611152649 | |
| 21000,0.102168768644333 | |
| 21250,0.0833894982933998 | |
| 21500,0.0961592271924019 | |
| 21750,0.0897991135716438 | |
| 22000,0.0786541253328323 | |
| 22250,0.0833073630928993 | |
| 22500,0.0644511431455612 | |
| 22750,0.0880745202302933 | |
| 23000,0.0923234298825264 | |
| 23250,0.0884318724274635 | |
| 23500,0.0703702345490456 | |
| 23750,0.0803701132535934 | |
| 24000,0.0784883797168732 | |
| 24250,0.0843845009803772 | |
| 24500,0.0769684463739395 | |
| 24750,0.0935950577259064 | |
| 25000,0.0540684722363949 | |
| 25250,0.07851442694664 | |
| 25500,0.0742120370268822 | |
| 25750,0.0646139234304428 | |
| 26000,0.0842713713645935 | |
| 26250,0.0803988948464394 | |
| 26500,0.0771631076931953 | |
| 26750,0.0761032551527023 | |
| 27000,0.0840065404772759 | |
| 27250,0.0935749039053917 | |
| 27500,0.0732672140002251 | |
| 27750,0.0722167938947678 | |
| 28000,0.0625380426645279 | |
| 28250,0.0692528560757637 | |
| 28500,0.0841533839702606 | |
| 28750,0.0873199179768562 | |
| 29000,0.0794588252902031 | |
| 29250,0.0782079845666885 | |
| 29500,0.0706710740923882 | |
| 29750,0.0645671188831329 | |
| 30000,0.0618404150009155 | |
| 30250,0.0675697028636932 | |
| 30500,0.0725297853350639 | |
| 30750,0.060474656522274 | |
| 31000,0.0742678791284561 | |
| 31250,0.0743383690714836 | |
| 31500,0.0782944560050964 | |
| 31750,0.080927737057209 | |
| 32000,0.073731504380703 | |
| 32250,0.0811228826642036 | |
| 32500,0.0646554306149483 | |
| 32750,0.0786699950695038 | |
| 33000,0.071227915585041 | |
| 33250,0.0733621343970299 | |
| 33500,0.0653238743543625 | |
| 33750,0.067409373819828 | |
| 34000,0.0726601928472519 | |
| 34250,0.0774567574262619 | |
| 34500,0.0566120259463787 | |
| 34750,0.051490806043148 | |
| 35000,0.066896378993988 | |
| 35250,0.0588470175862312 | |
| 35500,0.0485070496797562 | |
| 35750,0.0685291364789009 | |
| 36000,0.0551193356513977 | |
| 36250,0.0702369138598442 | |
| 36500,0.0633216798305512 | |
| 36750,0.0704483464360237 | |
| 37000,0.0642645135521889 | |
| 37250,0.0654347315430641 | |
| 37500,0.0626657903194428 | |
| 37750,0.0663016214966774 | |
| 38000,0.0700991675257683 | |
| 38250,0.0710433050990105 | |
| 38500,0.0639530047774315 | |
| 38750,0.0651539191603661 | |
| 39000,0.0572470985352993 | |
| 39250,0.0654056891798973 | |
| 39500,0.0760582908987999 | |
| 39750,0.0684324651956558 | |
| 40000,0.0672964155673981 | |
| 40250,0.0726526081562042 | |
| 40500,0.0595708638429642 | |
| 40750,0.0464835576713085 | |
| 41000,0.0524315014481545 | |
| 41250,0.0876682847738266 | |
| 41500,0.0515668243169785 | |
| 41750,0.0539919659495354 | |
| 42000,0.0609615594148636 | |
| 42250,0.0614661537110806 | |
| 42500,0.0562861151993275 | |
| 42750,0.0637470483779907 | |
| 43000,0.0554573945701122 | |
| 43250,0.0478522963821888 | |
| 43500,0.0603019446134567 | |
| 43750,0.0610197558999062 | |
| 44000,0.05700908228755 | |
| 44250,0.0672473758459091 | |
| 44500,0.0632509961724281 | |
| 44750,0.0627920478582382 | |
| 45000,0.0531242378056049 | |
| 45250,0.0570955537259579 | |
| 45500,0.0568610206246376 | |
| 45750,0.0574353225529194 | |
| 46000,0.0483583100140095 | |
| 46250,0.058441873639822 | |
| 46500,0.0684870555996895 | |
| 46750,0.0588890574872494 | |
| 47000,0.0585347414016724 | |
| 47250,0.0403554737567902 | |
| 47500,0.052330132573843 | |
| 47750,0.0638430118560791 | |
| 48000,0.0524533465504646 | |
| 48250,0.0636766776442528 | |
| 48500,0.0575742088258266 | |
| 48750,0.0651043280959129 | |
| 49000,0.0485129244625568 | |
| 49250,0.0456908047199249 | |
| 49500,0.056434515863657 | |
| 49750,0.0598612390458584 | |
| 50000,0.0366765484213829 | |
| 50250,0.0540686137974262 | |
| 50500,0.0642334744334221 | |
| 50750,0.0619905218482018 | |
| 51000,0.056599959731102 | |
| 51250,0.0632442831993103 | |
| 51500,0.064114585518837 | |
| 51750,0.0596913248300552 | |
| 52000,0.0684777200222015 | |
| 52250,0.0673878490924835 | |
| 52500,0.0602790042757988 | |
| 52750,0.0468123331665993 | |
| 53000,0.0554747246205807 | |
| 53250,0.0539338812232018 | |
| 53500,0.0536942295730114 | |
| 53750,0.0657941624522209 | |
| 54000,0.0571390874683857 | |
| 54250,0.051034901291132 | |
| 54500,0.0535419099032879 | |
| 54750,0.0585218034684658 | |
| 55000,0.0590476132929325 | |
| 55250,0.0556549057364464 | |
| 55500,0.0540749467909336 | |
| 55750,0.0567823350429535 | |
| 56000,0.0645099207758904 | |
| 56250,0.0525293201208115 | |
| 56500,0.0414173901081085 | |
| 56750,0.0468097515404224 | |
| 57000,0.0505614206194878 | |
| 57250,0.042780090123415 | |
| 57500,0.0527796261012554 | |
| 57750,0.052752785384655 | |
| 58000,0.0542964488267899 | |
| 58250,0.0509687215089798 | |
| 58500,0.0439649038016796 | |
| 58750,0.0654481798410416 | |
| 59000,0.0521850436925888 | |
| 59250,0.0532223172485828 | |
| 59500,0.0447828583419323 | |
| 59750,0.0502801537513733 | |
| 60000,0.0429187938570976 | |
| 60250,0.0531221777200699 | |
| 60500,0.0466269925236702 | |
| 60750,0.0471585169434547 | |
| 61000,0.057604119181633 | |
| 61250,0.0276405811309814 | |
| 61500,0.0463890545070171 | |
| 61750,0.0448151789605618 | |
| 62000,0.0453344434499741 | |
| 62250,0.0575824566185474 | |
| 62500,0.0594193562865257 | |
| 62750,0.0443379431962967 | |
| 63000,0.0517388321459293 | |
| 63250,0.0534370876848698 | |
| 63500,0.0518986098468304 | |
| 63750,0.0535732619464397 | |
| 64000,0.0427504405379295 | |
| 64250,0.0569512657821178 | |
| 64500,0.0500086024403572 | |
| 64750,0.0568780861794949 | |
| 65000,0.0494282357394695 | |
| 65250,0.0588905215263367 | |
| 65500,0.0617278516292572 | |
| 65750,0.047258522361517 | |
| 66000,0.0613099969923496 | |
| 66250,0.0550788156688213 | |
| 66500,0.0520342886447907 | |
| 66750,0.0402224212884903 | |
| 67000,0.0449461415410042 | |
| 67250,0.0548182390630245 | |
| 67500,0.0450058840215206 | |
| 67750,0.0428045466542244 | |
| 68000,0.0597071759402752 | |
| 68250,0.0503829978406429 | |
| 68500,0.0425010547041893 | |
| 68750,0.0381672047078609 | |
| 69000,0.0695288479328156 | |
| 69250,0.0447811000049114 | |
| 69500,0.0512284003198147 | |
| 69750,0.0547541379928589 | |
| 70000,0.0442005395889282 | |
| 70250,0.0500759556889534 | |
| 70500,0.0489431917667389 | |
| 70750,0.0382275357842445 | |
| 71000,0.0435850471258163 | |
| 71250,0.0556046701967716 | |
| 71500,0.0513407438993454 | |
| 71750,0.0518748983740807 | |
| 72000,0.0432510226964951 | |
| 72250,0.0563774779438973 | |
| 72500,0.0494542606174946 | |
| 72750,0.0466161295771599 | |
| 73000,0.0472916960716248 | |
| 73250,0.0578780919313431 | |
| 73500,0.0448116585612297 | |
| 73750,0.0561479590833187 | |
| 74000,0.0376547984778881 | |
| 74250,0.0448188260197639 | |
| 74500,0.0476916991174221 | |
| 74750,0.0447353012859821 | |
| 75000,0.0416328199207783 | |
| 75250,0.0435157008469105 | |
| 75500,0.0562670640647411 | |
| 75750,0.0494661070406437 | |
| 76000,0.0432153940200806 | |
| 76250,0.0432845018804073 | |
| 76500,0.0438876338303089 | |
| 76750,0.0434332303702831 | |
| 77000,0.03888338804245 | |
| 77250,0.0408245213329792 | |
| 77500,0.0353592894971371 | |
| 77750,0.0468451008200645 | |
| 78000,0.0453103631734848 | |
| 78250,0.0426300689578056 | |
| 78500,0.0456886515021324 | |
| 78750,0.0416287817060947 | |
| 79000,0.0473818257451057 | |
| 79250,0.0479864738881588 | |
| 79500,0.0446543321013451 | |
| 79750,0.0496766120195389 | |
| 80000,0.0394586659967899 | |
| 80250,0.0565435364842415 | |
| 80500,0.0465778708457947 | |
| 80750,0.0444472022354603 | |
| 81000,0.0414823330938816 | |
| 81250,0.0389881245791912 | |
| 81500,0.0343039445579052 | |
| 81750,0.0452961958944798 | |
| 82000,0.0442272089421749 | |
| 82250,0.0463895611464977 | |
| 82500,0.037198506295681 | |
| 82750,0.0422954298555851 | |
| 83000,0.0478560589253902 | |
| 83250,0.0492684133350849 | |
| 83500,0.0441730730235577 | |
| 83750,0.0449604876339436 | |
| 84000,0.0391749814152718 | |
| 84250,0.0446402803063393 | |
| 84500,0.0390712693333626 | |
| 84750,0.0485216081142426 | |
| 85000,0.0378086976706982 | |
| 85250,0.0346174985170364 | |
| 85500,0.031848356127739 | |
| 85750,0.0409820824861527 | |
| 86000,0.0514547005295754 | |
| 86250,0.0479134619235992 | |
| 86500,0.050172433257103 | |
| 86750,0.0522944442927837 | |
| 87000,0.0505082532763481 | |
| 87250,0.0480003245174885 | |
| 87500,0.0508701503276825 | |
| 87750,0.0525906011462212 | |
| 88000,0.0543170347809792 | |
| 88250,0.0527547113597393 | |
| 88500,0.0465858392417431 | |
| 88750,0.0480045489966869 | |
| 89000,0.04554483294487 | |
| 89250,0.0399995446205139 | |
| 89500,0.0406379513442516 | |
| 89750,0.0499376021325588 | |
| 90000,0.0485265962779522 | |
| 90250,0.0582697205245495 | |
| 90500,0.0423348173499107 | |
| 90750,0.0354002751410007 | |
| 91000,0.0458851717412472 | |
| 91250,0.0480192825198174 | |
| 91500,0.0394650734961033 | |
| 91750,0.0284442435950041 | |
| 92000,0.0434955358505249 | |
| 92250,0.0465888865292072 | |
| 92500,0.0480732284486294 | |
| 92750,0.0403859950602055 | |
| 93000,0.0503598935902119 | |
| 93250,0.0370515435934067 | |
| 93500,0.0488848239183426 | |
| 93750,0.0525209121406078 | |
| 94000,0.0430029407143593 | |
| 94250,0.0406588315963745 | |
| 94500,0.0448977947235107 | |
| 94750,0.0506258234381676 | |
| 95000,0.0330441929399967 | |
| 95250,0.0461158826947212 | |
| 95500,0.0405431464314461 | |
| 95750,0.0403178296983242 | |
| 96000,0.031189538538456 | |
| 96250,0.0411800630390644 | |
| 96500,0.0457289107143879 | |
| 96750,0.0397814549505711 | |
| 97000,0.0431529358029366 | |
| 97250,0.0411539375782013 | |
| 97500,0.0470800288021565 | |
| 97750,0.044957622885704 | |
| 98000,0.0301160607486963 | |
| 98250,0.0543057285249233 | |
| 98500,0.0412612594664097 | |
| 98750,0.040691964328289 | |
| 99000,0.0361737199127674 | |
| 99250,0.0435527712106705 | |
| 99500,0.042739674448967 | |
| 99750,0.043802548199892 | |