Does ACT run on Moss v1?

works with caveats

T1 · upstream documentedlast verified 2026-10-24 · 1d agoLeRobot

Capabilities

Capability	State	Evidence
Train / fine-tune	works	ev-lerobot-moss-doc
Real-robot inference	works	ev-lerobot-moss-doc
Simulation inference	no verified evidence	—
Teleop + record	works	ev-lerobot-moss-doc

LeRobot's `moss` robot type and its tutorial were removed in the hardware API redesign (PR #777, June 2025); Moss v1 is not supported by LeRobot v0.6.1, so the documented workflow needs a pre-redesign commit.

T1 · upstream documentedofficial-docsverified 2026-10-24 (1d ago)
Official LeRobot Moss v1 tutorial (last version before removal, commit bed90e3, May 2025): calibrate/teleop/record with --robot.type=moss, train with --policy.type=act, evaluate the ACT checkpoint on the robot via --control.policy.path.
“This tutorial explains how to use [Moss v1](https://github.com/jess-moss/moss-robot-arms) with LeRobot.”
https://github.com/huggingface/lerobot/blob/bed90e3a41c43758c619dba66158ddd5798d361a/examples/11_use_moss.md

Badge for READMEs and model cards. It always shows the current state.

[![ACT on Moss v1: works with caveats](https://caniembody.pages.dev/badge/moss-v1/act.svg)](https://caniembody.pages.dev/compat/moss-v1/act)

<iframe src="https://caniembody.pages.dev/embed/moss-v1/act" width="380" height="132" style="border:0" title="ACT on Moss v1 | CanIEmbody"></iframe>

2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij