README.md

---
license: bsd-2-clause
pipeline_tag: robotics
---

# Action Chunking with Transformers (ACT) - MujocoUR5eCable

This model is a part of the **RoboManipBaselines** framework. It implements the [Action Chunking with Transformers (ACT)](https://tonyzhaozh.github.io/act/) architecture and was trained on the [MujocoUR5eCable dataset](https://huggingface.co/datasets/RoboManipBaselines/MujocoUR5eCable).

- **Paper:** [RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments](https://huggingface.co/papers/2509.17057)
- **Project Page:** [RoboManipBaselines Project Page](https://isri-aist.github.io/RoboManipBaselines-ProjectPage/)
- **Repository:** [GitHub - isri-aist/RoboManipBaselines](https://github.com/isri-aist/RoboManipBaselines)

## Installation
See [GitHub](https://github.com/isri-aist/RoboManipBaselines/blob/master/doc/install.md#ACT) for installation instructions.

## Policy rollout
To run the trained policy, use the following command from the top directory of the repository:
```console
$ cd robo_manip_baselines
$ python ./bin/Rollout.py Act MujocoUR5eCable --checkpoint ./checkpoint/Act/<checkpoint_name>/policy_last.ckpt
```

## Technical Details
For more information on the technical details of the ACT architecture, please see the following paper:
```bib
@INPROCEEDINGS{ACT_RSS23,
  author = {Tony Z. Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
  title = {Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year = {2023},
  month = {July},
  doi = {10.15607/RSS.2023.XIX.016}
}
```

## Citation
If you use RoboManipBaselines in your work, please cite the framework paper:
```bibtex
@article{RoboManipBaselines_Murooka_2025,
  title={RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments},
  author={Murooka, Masaki and Motoda, Tomohiro and Nakajo, Ryoichi and Oh, Hanbit and Makihara, Koshi and Shirai, Keisuke and Ogata, Tetsuya and Domae, Yukiyasu},
  journal={arXiv preprint arXiv:2509.17057},
  year={2025}
}
```