metadata
license: bsd-2-clause
Action Chunking with Transformers (ACT)
The model was trained with the MujocoUR5eCable dataset.
Install
See GitHub for installation.
Policy rollout
Run a trained policy:
$ python ./bin/rollout/RolloutActMujocoUR5eCable.py \
--checkpoint <checkpoint_path>/policy_last.ckpt \
--skip 3 --world_idx 0
Technical Details
For more information on the technical details, please see the following paper:
@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}
}