Action Chunking with Transformers (ACT) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.
--- datasets: subhodipsaha/so101_cup_push_red library_name: lerobot license: apache-2.0 model_name: act pipeline_tag: robotics tags: - act - robotics - lerobot --- # Model Card for act [Action Chunking with Transformers (ACT)](https://huggingface.co/papers/2304.13705) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates. This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot). See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index). --- ## How to Get Started with the Model For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy). Below is the short version on how to train and run inference/eval: ### Train from scratch ```bash lerobot-train \ --dataset.repo_id=${HF_USER}/ \ --policy.type=act \ --output_dir=outputs/train/ \ --job_name=lerobot_training \ --policy.device=cuda \ --policy.repo_id=${HF_USER}/ --wandb.enable=true ``` _Writes checkpoints to `outputs/train/ /checkpoints/`._ ### Evaluate the policy/run inference ```bash lerobot-record \ --robot.type=so100_follower \ --dataset.repo_id= /eval_ \ --policy.path= / \ --episodes=10 ``` Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint. --- ## Model Details - **License:** apache-2.0 ## Comments - Worked really well in rotating arm towards red cup. It worked well in Hyderabad, but same policy didn't work well in Bengaluru. Likely because background wall colour changed.
Action Chunking with Transformers (ACT) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.
