PhAIL
PhAIL Physical AI Leaderboard by Positronic Robotics
Leaderboard › Model
Specialised

Model card

Made by
Tony Z. Zhao, Vikash Kumar, Sergey Levine and Chelsea Finn
Size
126M parameters
Published
23 Apr 2023
More about the model
Publication
arXiv 2304.13705
Code
github.com/huggingface/lerobot
Actions per chunk
100 source
Smallest GPU
RTX 2080 Ti, 11 GB: it trains and runs on one source
Inference time
About 10 ms on an RTX 2080 Ti source
Architecture
ResNet-18 image encoders and a transformer encoder and decoder, trained as a conditional VAE source
Training data
Trains from scratch on each task. Its authors use 50 demonstrations per task. source

Run with Positronic

Positronic-Robotics/positronic/vendors/lerobot_0_3_3 source

Progress through a run

Each band shows how many runs of ACT have placed that number of items at each second. The dashed line shows the mean share of placed items per run.

Loading runs...

Episodes

Each episode of ACT on Pick and Place, the newest first.

151 episodes
Task Items placed Speed, items/min
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Scissors 0/8 -
Scissors 3/8 1.5
Batteries 0/8 -
Towels 0/8 -
Scissors 0/8 -
Scissors 0/8 -
Scissors 1/8 -
Batteries 1/8 2.5
Batteries 3/8 1.0
Batteries 0/8 -
Towels 0/8 -
Towels 6/8 1.7
Towels 1/8 2.9
Towels 1/8 1.2
Wooden spoons 7/8 2.0
Wooden spoons 1/8 5.0
Scissors 0/8 -
Batteries 4/8 5.2
Batteries 0/8 -
Batteries 2/8 2.8
Batteries 4/8 1.9
Batteries 0/8 -
Wooden spoons 2/8 18.9
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Wooden spoons 3/8 1.6
Wooden spoons 3/8 8.1
Wooden spoons 4/8 3.4
Batteries 0/8 -
Batteries 0/8 -
Wooden spoons 4/8 4.7
Wooden spoons 8/8 2.5
Wooden spoons 4/8 1.1
Wooden spoons 6/8 1.7
Wooden spoons 6/8 3.4
Scissors 5/8 1.3
Scissors 3/8 1.9
Batteries 1/8 2.0
Batteries 0/8 -
Batteries 4/8 2.3
Batteries 5/8 1.3
Scissors 0/4 -
Scissors 3/4 4.4
Scissors 0/4 -
Scissors 0/4 -
Scissors 2/4 1.2
Scissors 4/4 2.8
Scissors 3/4 1.7
Scissors 0/4 -
Towels 1/4 3.1
Towels 2/4 1.0
Towels 0/4 -
Towels 0/4 -
Towels 1/4 4.7
Towels 0/4 -
Towels 1/4 1.9
Towels 3/4 1.5
Towels 0/4 -
Towels 2/4 4.4
Towels 1/4 1.1
Towels 1/4 5.8
Towels 0/4 -
Towels 1/4 4.6
Towels 1/4 1.4
Towels 1/4 6.2
Towels 1/4 3.1
Scissors 4/8 1.1
Scissors 2/8 4.1
Scissors 1/8 1.2
Scissors 0/8 -
Batteries 0/8 -
Batteries 4/8 2.3
Batteries 2/8 2.6
Batteries 4/8 1.4
Batteries 1/8 6.5
Wooden spoons 5/8 1.3
Scissors 4/8 1.2
Scissors 5/8 2.7
Scissors 4/8 2.1
Scissors 4/8 1.1
Towels 0/4 -
Towels 2/4 1.0
Towels 0/4 -
Towels 3/4 2.8
Towels 2/4 6.0
Towels 0/4 -
Towels 2/4 4.8
Towels 0/4 -
Towels 0/4 -
Batteries 0/8 -
Batteries 3/8 2.2
Batteries 5/8 3.7
Batteries 7/8 6.1
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 2/8 5.4
Wooden spoons 6/8 3.9
Wooden spoons 4/8 2.1
Wooden spoons 6/8 3.7
Wooden spoons 8/8 3.9
Wooden spoons 6/8 2.2
Wooden spoons 8/8 4.4
Towels 3/8 1.7
Towels 2/8 4.0
Towels 1/8 3.6
Towels 3/8 2.1
Towels 5/8 1.2
Towels 3/8 2.3
Towels 5/8 2.1
Towels 3/8 1.4
Towels 2/8 5.9
Scissors 0/8 -
Scissors 1/8 1.7
Scissors 0/8 -
Scissors 2/8 2.2
Scissors 5/8 1.4
Scissors 4/8 1.7
Scissors 5/8 1.3
Scissors 5/8 2.6
Scissors 6/8 1.7
Scissors 6/8 1.5
Scissors 1/8 -
Scissors 4/8 2.1
Towels 3/8 1.5
Towels 1/8 1.4
Towels 3/8 2.6
Towels 5/8 1.3
Towels 3/8 2.1
Towels 4/8 1.0
Scissors 0/8 -
Batteries 4/8 1.7
Batteries 1/8 -
Batteries 1/8 -
Batteries 2/8 4.8
Batteries 4/8 6.7
Batteries 1/8 4.0
Batteries 2/8 0.9
Batteries 0/8 -
Wooden spoons 5/8 1.1
Wooden spoons 8/8 5.4
Wooden spoons 8/8 3.6
Wooden spoons 7/8 2.6
Wooden spoons 0/8 -
Wooden spoons 3/8 3.4
Wooden spoons 2/8 3.8
Wooden spoons 7/8 1.9
Wooden spoons 8/8 3.2