| license: apache-2.0 | |
| library_name: lerobot | |
| tags: | |
| - robot | |
| - imitation-learning | |
| - act | |
| - nexarm | |
| - real-robot | |
| # NexArm ACT: Pick and Place | |
| This model is trained with [ACT (Action Chunking with Transformers)](https://arxiv.org/abs/2304.13705) on a **Hiwonder NexArm** 6-DOF robotic arm for a pick-and-place task. | |
| ## Training Details | |
| | Item | Value | | |
| |------|-------| | |
| | **Policy** | ACT (Action Chunking with Transformers) | | |
| | **Dataset** | 31 episodes, ~27K frames | | |
| | **Cameras** | 2× USB cameras (front + wrist), 640×480 | | |
| | **Training Time** | ~29K steps on NVIDIA RTX 5070 Ti | | |
| | **Final Loss** | ~0.057 | | |
| ## Usage | |
| ```python | |
| from lerobot.policies import ACTPolicy | |
| from lerobot.rollout import rollout | |
| policy = ACTPolicy.from_pretrained("CypherChen/NexarmControlModel") | |
| # Run inference on your NexArm robot | |
| rollout(policy, robot_type="nexarm_follower") | |
| ``` | |
| ## Hardware | |
| - **Robot**: Hiwonder NexArm (ESP32 + AT32 dual-chip) | |
| - **Servos**: HX-series serial bus servos | |
| - **Leader arm**: Drag-to-teach teleoperation | |
| - **Follower arm**: Executes learned policy | |
| ## License | |
| Apache 2.0 | |