Does ACT run on Koch v1.1?
works
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-hub-ethancsl-act-koch, ev-hub-sounderya-act-koch | |
| Real-robot inference | works | The upstream quick-start rolls out the checkpoint lerobot/act_koch_real on koch_follower; that checkpoint was not publicly accessible on the Hub on 2026-10-24, so bring your own trained ACT checkpoint. | ev-lerobot-rollout-koch |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
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
LeRobot's policy-deployment page uses an ACT checkpoint on the Koch follower (koch_follower) as its lerobot-rollout quick-start example.
“--policy.path=lerobot/act_koch_real \ --robot.type=koch_follower”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/inference.mdx - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
config.json type=act; train_config.json dataset ethanCSL/svla_koch_sorting_n_stacking_wrist_camera whose meta/info.json robot_type=koch_follower (200 episodes).
https://huggingface.co/ethanCSL/act_koch_sorting_only_wrist - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
config.json type=act; train_config.json dataset Sounderya/koch_pickplace_v1 whose meta/info.json robot_type=koch_follower (210 episodes).
https://huggingface.co/Sounderya/act-koch-pickplace
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[](https://caniembody.pages.dev/compat/koch/act)<iframe src="https://caniembody.pages.dev/embed/koch/act" width="380" height="132" style="border:0" title="ACT on Koch v1.1 | CanIEmbody"></iframe>History
- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij