Does ACT run on HopeJR?
Scope: Training ACT on data recorded with the Hope-JR hand (robot type hope_jr_hand) is documented upstream and labelled experimental; the arm is not covered. The page's evaluation step passes --policy.path to lerobot-record, but lerobot-record in v0.6.1 requires --teleop.type and has no policy option (policies are deployed with lerobot-rollout), so on-robot inference is not validly documented.
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | Documented for hope_jr_hand only, with a homunculus_glove teleoperator for recording; upstream calls Record/Replay/Train experimental. | ev-lerobot-hopejr-train, ev-lerobot-hopejr-experimental |
| Real-robot inference | no verified evidence | — | |
| Simulation inference | no verified evidence | — | |
| Teleop + record | works | ev-lerobot-hopejr-experimental |
Caveats
- Upstream states that Record, Replay and Train with Hope-JR are still experimental.
Evidence 3 sources; the cell shows the highest tier
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
The Hope-JR page trains an ACT policy on a hope_jr_hand dataset (outputs/train/hopejr_hand).
“--policy.type=act \ --output_dir=outputs/train/hopejr_hand”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/hope_jr.mdx - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
Upstream labels the Hope-JR record/replay/train workflow experimental; recording uses --robot.type=hope_jr_hand with a homunculus_glove teleoperator.
“Record, Replay and Train with Hope-JR is still experimental.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/hope_jr.mdx - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
In v0.6.1, RecordConfig has no policy field and raises an error when no teleoperator is given, pointing policy deployment to lerobot-rollout.
“For policy-based deployment, use lerobot-rollout instead.”
https://github.com/huggingface/lerobot/blob/v0.6.1/src/lerobot/scripts/lerobot_record.py
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[](https://caniembody.pages.dev/compat/hope-jr/act)<iframe src="https://caniembody.pages.dev/embed/hope-jr/act" width="380" height="132" style="border:0" title="ACT on HopeJR | CanIEmbody"></iframe>History
- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij