# Reproduction and Evaluation of ACT on the MuJoCo Dual-Arm Block Handover Task

- Source: Guyuehome
- Published: 2026-10-17T15:30:00.000Z
- RoboHot: https://robohot.news/en/items/hwdk258jt9ix7et3x91ms66xi
- Original: https://www.guyuehome.com/detail?id=2105153063388999681

## Summary

A complete reproduction of the Action Chunking Transformer (ACT), implemented with LeRobot, on the MuJoCo dual-arm block handover task, covering the CVAE and action-chunking derivations, frame-by-frame comparison against the dataset to validate the inference pipeline, and a 20-episode deterministic closed-loop evaluation with a comparison of execution modes.