File size: 899 Bytes
82cd976 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 | ---
library_name: pytorch
tags:
- robotics
- manipulation
- imitation-learning
- act
- lerobot
---
# ACT-Pick
ACT-Pick is an **Action Chunking Transformer (ACT)** policy trained using
**LeRobot** for a tabletop **object pickup task**.
## Model Details
- Policy Type: ACT
- Learning Method: Imitation Learning
- Framework: PyTorch
## Files
- `model.safetensors` — trained policy weights
- `config.json` — model configuration
- `policy_preprocessor.json` — observation normalization config
- `policy_preprocessor_step_3_normalizer_processor.safetensors` — observation normalizer
- `policy_postprocessor.json` — action unnormalization config
- `policy_postprocessor_step_0_unnormalizer_processor.safetensors` — action unnormalizer
- `train_config.json` — training configuration
## Usage
```bash
lerobot-eval \
--policy.repo_id=NEW_HF_USERNAME/ACT-Pick \
--policy.device=cuda
```
|