---
library_name: lerobot
pipeline_tag: robotics
---

# SO101 Handover ACT RA-BC HIL Batch1 V1

Fine-tuned from `fbsh96/so101-sock-ball-handover-act-dualcam-60eps-mi300x-b16-20000steps` using the first 20-episode HIL batch and RA-BC progress weighting.

- Base checkpoint: 60eps ACT handover baseline
- Training data: `fbsh96/so101_handover_hil_rlready_batch1_20260505`
- Steps: 5,000
- Batch size: 16
- RA-BC progress: `act_acp_progress_batch1_v1.parquet`
- `rabc_kappa`: 0.1
- Final logged loss: 0.058