lerobot

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act_aloha_sim_insertion_human

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LeRobot 569

In the original dataset, each episode is 10 seconds (500 frames) but for validation, you use 8s (400 frames) which is the default for the cube transfer problem. I think the fair validation for this test should use episode_length=500.

Just add the following parameter to train and eval commands to fix it. In this case, the training and validation are more aligned.

    --env.episode_length=500

It improves the success rate to 23.2%.