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ACT reproduction evaluation completed on MuJoCo dual-arm block handover task
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Guyuehome completed a 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, and verified the inference pipeline through frame-by-frame comparison against the dataset. The evaluation used a twenty-episode deterministic closed-loop test and an execution-mode comparison.
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- Reproduction and Evaluation of ACT on the MuJoCo Dual-Arm Block Handover Task
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.
Guyuehome ·