---
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