---
license: apache-2.0
tags: [robotics, lerobot, act, aloha, isr]
---
# ACT checkpoints — ISR vs uniform vs full data on ALOHA transfer-cube (human demos)

LeRobot ACT `pretrained_model` folders, one per `<job>/<step>`. Jobs: `aloha_transfer_cube_{raw,uni3,isr,isr_lam0,isr_k6}` (seed 1000, steps 020000/040000/060000) and `*_s2000` (seed 2000, 020000/040000).
**Datasets are in degrees** — at eval convert actions deg→rad and observations rad→deg (see `sitecustomize.py` in the experiment repo), and rate-match playback for compressed arms (action-repeat 2 for isr/isr_lam0, 3 for uni3/isr_k6).
Results, data, code: `Kavin60606/isr-aloha-transfer-cube-experiment`.