Does ACT run on Universal Robots UR5e?

works with caveats

T3 · community reportedlast verified 2026-10-24 · 1d agoLeRobot 0.5.1

Capabilities

Capability	State	Evidence
Train / fine-tune	works	ev-ur5e-lerobot-readme
Real-robot inference	works	ev-ur5e-lerobot-readme
Simulation inference	no verified evidence	—
Teleop + record	works	ev-ur5e-lerobot-readme

Caveats

Community-reported only; not documented upstream or maintainer-tested.
Requires the UR5e-LeRobot extension (a LeRobot fork pinned at version 0.5.1, UR5e + PGI gripper), not an unmodified LeRobot install.

Evidence 1 source; the cell shows the highest tier

T3 · community reportedsource-codesource 2026-07-02verified 2026-10-24 (1d ago)lerobot 0.5.1
Third-party UR5e LeRobot extension (listed on LeRobot's third-party robots page as a fork/extension) gives lerobot-train commands with --policy.type=act and real-robot lerobot-record eval commands for single-arm and bimanual UR5e, and states the policy was validated and tuned on its hardware.
“We have validated and tuned hyperparameters on this hardware stack for five policies: `ACT`, `Diffusion Policy`, `VQ-BeT`, `MultiTaskDiT`, `pi0`, and `pi05`.”
https://github.com/yechen056/UR5e-LeRobot/blob/72d41bdae2606f464d3fd0da24cd6a20241ab244/README.md

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History

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