---
library_name: lerobot
tags:
- act
- robotics
- lerobot
license: mit
datasets:
- AdamLucek/koch_block
---

# Action Chunking Transformer For The Koch v1.1 Robot

Action Chunking Transformer (ACT) trained on the [AdamLucek/koch_block](https://huggingface.co./datasets/AdamLucek/koch_block) dataset for the [Koch v1.1 Low Cost Robot](https://github.com/jess-moss/koch-v1-1) from [LeRobot](https://github.com/huggingface/lerobot)

### Usage

Details around methodology for set up, training, and evaluation available via LeRobot's guide to [Getting Started with Real World Robots](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md)

### Training Details

The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/d747195c5733c4f68d4bfbe62632d6fc1b605712/lerobot/scripts/train.py) and the [AdamLucek/koch_block](https://huggingface.co./datasets/AdamLucek/koch_block) dataset, using this command:

```bash
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.](https://api.wandb.ai/links/adam-lucek/roik1kwh)