Does ACT run on LeKiwi?
works
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-hub-pepijn-act-lekiwi, ev-hub-masatoka-act-lekiwi | |
| Real-robot inference | works | Upstream example examples/lekiwi/evaluate.py loads an ACTPolicy and runs it against LeKiwiClient; the script itself notes that lerobot-rollout is the production deployment path. | ev-lerobot-lekiwi-doc, ev-lerobot-lekiwi-evaluate |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Evidence 4 sources; the cell shows the highest tier
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
The LeKiwi page points policy evaluation at the examples/lekiwi/evaluate.py script.
“To evaluate your policy run the `evaluate.py` API example, make sure to change `remote_ip`, `port`, model..”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/lekiwi.mdx - T1 · upstream documentedsource-codesource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
The LeKiwi evaluation example instantiates LeKiwiClient and an ACTPolicy loaded from the Hub, then runs the policy on the robot.
“robot = LeKiwiClient(robot_config) # Create policy policy = ACTPolicy.from_pretrained(HF_MODEL_ID)”
https://github.com/huggingface/lerobot/blob/v0.6.1/examples/lekiwi/evaluate.py - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
config.json type=act; train_config.json dataset pepijn223/lekiwi_pen whose meta/info.json robot_type=lekiwi (40 episodes).
https://huggingface.co/pepijn223/act_lekiwi - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
config.json type=act; train_config.json dataset masato-ka/lekiwi_dounut_serve_full whose meta/info.json robot_type=lekiwi_client (60 episodes).
https://huggingface.co/masato-ka/act_lekiwi_dounut_serve_full
Embed this cell
Badge for READMEs and model cards. It always shows the current state.
[](https://caniembody.pages.dev/compat/lekiwi/act)<iframe src="https://caniembody.pages.dev/embed/lekiwi/act" width="380" height="132" style="border:0" title="ACT on LeKiwi | CanIEmbody"></iframe>History
- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij