| --- |
| license: bsd-2-clause |
| --- |
| # Action Chunking with Transformers (ACT) |
|
|
| The model was trained with the [MujocoUR5eCable dataset](https://huggingface.co/datasets/RoboManipBaselines/MujocoUR5eCable). |
|
|
| ## Install |
| See [GitHub](https://github.com/isri-aist/RoboManipBaselines/blob/master/doc/install.md#ACT) for installation. |
|
|
| ## Policy rollout |
| Run a trained policy: |
| ```console |
| # Go to the top directory of this repository |
| $ 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, 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} |
| } |
| ``` |
|
|
| ## RoboManipBaselines Paper |
| https://huggingface.co/papers/2509.17057 |
|
|
