---
datasets:
- VibeCuisine/vibepi3-grab-poseexpert-r3-curated
library_name: lerobot
pipeline_tag: robotics
tags:
- act
- vibe-data-studio
- hardware:vibeboard_v3
---

<!-- vibedata:model-card -->
# vibepi3-grab-act-aug-r3

act policy trained via Vibe Data Studio on 64 teleop episodes.

## At a glance

| | |
|---|---|
| **Architecture** | act (from scratch) |
| **Dataset** | [vibepi3-grab-poseexpert-r3-curated](https://huggingface.co/datasets/VibeCuisine/vibepi3-grab-poseexpert-r3-curated) @ `740f9046` |
| **Scale** | 64 episodes · 3,478 frames @ 20 fps |
| **Steps / batch / seed** | 30,000 / 8 / 1000 |
| **lerobot** | `b6d46c40` |
| **Provider / GPU** | site-gpu / site GPU host |
| **Duration** | 1h 17m |
| **Final train loss** | 0.047 |
| **W&B** | [vds48-2fc878f0](https://wandb.ai/jeremyhx-freelance/lerobot/runs/vds48-2fc878f0) |

## Tasks

Language-conditioned — pass one of these instructions at inference:

| Instruction | Episodes |
|---|---:|
| Grab the cucumber at the one-third point | 64 |

**Episodes per task per recording rig** (derived from the nested collection manifests down to leaf recorded datasets):

| Task | vibepi3 | **Total** |
|---|---:|---:|
| Grab the cucumber at the one-third point | 64 | **64** |
| **Total** | **64** | **64** |

## Rig

- **Action/state** (7-dim): shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper, tilt
- **Cameras** @ 20 fps: corner 640×480, top 640×480, wrist 640×480
- **Consumed image inputs** (the checkpoint's resolved VISUAL features, from its `config.json`): `observation.images.corner`, `observation.images.top`, `observation.images.wrist`

<details>
<summary><b>Reproduce</b> — exact training command</summary>

```
lerobot-train --policy.type=act --policy.repo_id=VibeCuisine/vibepi3-grab-act-aug-r3 --dataset.repo_id=VibeCuisine/vibepi3-grab-poseexpert-r3-curated --dataset.revision=740f9046b9b9f80c038c27aea6fb35854ac3a708 --batch_size=8 --steps=30000 --save_freq=5000 --output_dir=outputs/train/vibepi3-grab-act-aug-r3 --job_name=vibepi3-grab-act-aug-r3 --policy.device=cuda --wandb.enable=true --wandb.disable_artifact=true --wandb.project=lerobot --wandb.run_id=vds48-2fc878f0 --wandb.entity=jeremyhx-freelance --seed=1000 --dataset.eval_split=0.1 --eval_steps=600 --dataset.image_transforms.enable=true --policy.chunk_size=40 --policy.n_action_steps=40
```

`--num_workers` is appended host-side (clamped to the host's allocation).

</details>

---
*Card generated by Vibe Data Studio on run completion.*