Action Chunking Transformer For The Koch v1.1 Robot
Action Chunking Transformer (ACT) trained on the AdamLucek/koch_block dataset for the Koch v1.1 Low Cost Robot from LeRobot
Usage
Details around methodology for set up, training, and evaluation available via LeRobot's guide to Getting Started with Real World Robots
Training Details
The model was trained using LeRobot's training script and the AdamLucek/koch_block dataset, using this command:
python lerobot/scripts/train.py `
dataset_repo_id="AdamLucek/koch_block" `
policy="act_koch_real" `
env="koch_real" `
hydra.run.dir="outputs/train/act_koch_test" `
hydra.job.name="act_koch_test" `
device="cuda" `
wandb.enable="true"
Training was done on a 3060 for roughly 7 hours, loss curve and statistics available in wandb report here.
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