ACT — okura-pick right arm (8-dim)
ACT policy trained on sotata/okura-pick-06102026 (Unitree G1 teleop, right arm 7 DOF + right gripper, head camera only).
- Input: head RGB 640x480 (
observation.images.cam_left_high) + 8-dim state - Output: 8-dim action, chunk 100
- Training: LeRobot 0.4.1 ACT defaults (batch 8, 100k steps), final loss 0.053
- W&B: https://wandb.ai/soutamiyajima4-/lerobot-act-okura/runs/z6xpl7vy
- Load:
--policy.path=sotata/act-okura-pick-right-06112026 - Deployment: unitree_lerobot inference side needs the matching right-arm + 1-camera
config patch (8-dim, cam_left_high only) in
utils/constants.py. - Predecessor (16-dim dual-arm): sotata/act-okura-pick-06102026
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