---
library_name: lerobot
tags:
  - robotics
  - lerobot
  - act
  - gem-stack-blocks-three
datasets:
  - jclinton1/gem_stack_blocks_three_20260502_194746
---

# ACT Gem Stack Blocks Three 200k

ACT policy trained for 200,000 steps on `jclinton1/gem_stack_blocks_three_20260502_194746`.

Validation used the final 10% of dataset episodes, episodes 278-307.

Final validation metrics at step 200000:

- `val_loss`: 0.3886
- `val_l1_loss`: 0.3885
- `val_kld_loss`: 0.0000

Feature rename map used during training:

```json
{
  "observation.images.head": "observation.images.image",
  "observation.images.wrist": "observation.images.image2"
}
```