Model Card for act

Action Chunking with Transformers (ACT) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot act guide, or browse the full documentation.

Model Details

License: apache-2.0
Robot type: robox_ego_hand
Cameras: front

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
`observation.images.front`	VISUAL	`(3, 480, 640)`
`observation.state`	STATE	`(15,)`

Outputs

Feature	Type	Shape
`action`	ACTION	`(14,)`

Training Dataset

Repository: as54/lerobot_ego_grasp_test1
Episodes: 1276
Frames: 186255
Frame rate: 30 FPS
Task(s): "folding paper the other", "Grasp Phone the other", "grasp glass the cup_mug", "hold glass the cup_mug", "grasp cup the other", "grasp candle the other", "hold candle the other", "grasp shaker bottle the cup_mug", "release shaker bottle the cup_mug", "Hold and Manipulate the other", "grasp ricola tin the other", "release ricola tin the other", "Reading and Page Turning the book", "Grasp Tumbler the other", "Hold water bottle the bottle", "Release water bottle the bottle", "Mold Polishing the other", "Reach and Grasp Spice Jar the other", "Hold Spice Jar the other", "grasp camera the other", "hold the other", "reach and grasp bottle the bottle", "lift and hold bottle the bottle", "hold remote the remote", "place down remote the remote", "Grasp Reed Diffuser the cup_mug", "Hold Reed Diffuser the cup_mug", "grasp peach the other", "hold peach the other", "reach and grasp the other", "Hold and Manipulate Stool the other", "grasp ice the other", "hold and manipulate ice the other", "release ice the other", "holding thermos the other", "Hold bottle the other", "stirring sauce the utensil", "Hold and examine mouthwash the other", "Place mouthwash back the other", "picking up handbag the other", "placing down handbag the other", "grasp bottle the other", "Hold and examine snack the other", "grasp earbud case the other", "hold earbud case the other", "hold can the other", "release can the other", "Grasp Glove the other", "grasp the other", "Grasp Zucchini the other", "Hold Zucchini the other", "Release Zucchini the other", "Grasp Bottle the other", "Hold Bottle the other", "reach and grasp tumbler the other", "hold tumbler the other", "lift tumbler the other", "Hold glass the cup_mug", "reaching for product the other", "picking up product the other", "Grasp Object the other", "Manipulate Object the other", "Hold Object the other", "Release Object the other", "holding T-handle socket wrench the tool", "Hold Wrench the tool", "holding screwdriver the tool", "holding pliers the tool", "holding fork the utensil", "Hold bottle the bottle", "holding keys the keys", "holding mug the cup_mug", "holding ruler the other", "Hold and Adjust Ruler the other", "holding pencil the other", "holding pen the other", "holding pencil case the other", "holding remote the other", "holding bucket the container", "Grasp Scissors the tool", "grasp teacup the cup_mug", "hold teacup the cup_mug", "release teacup the cup_mug", "grasp leaf the other", "release leaf the other", "plug in adapter the other", "touching rice cooker the other", "grasp bottle the bottle", "hold bottle the bottle", "Hammering preparation the tool", "Holding keys and interacting with lock the keys", "hold screwdriver the tool", "holding bucket with funnel the container", "holding soy sauce bottle the bottle", "Hold Kettle the cup_mug", "holding key the keys", "holding pitcher the cup_mug", "reach and grasp remote the remote", "manipulate remote the remote", "Hold and lift watch the other", "Grasp cigarette the other", "Hold cigarette the other", "Release cigarette the other", "grasp and hold kettle the cup_mug", "Hold bucket the container", "Pick up mobile hotspot the other", "Place down mobile hotspot the other", "Hold figurine the other", "filling bucket the container", "Hold and examine cherry the other", "Grasp Cup the cup_mug", "Reach and Grasp Spoon the utensil", "Manipulate Spoon the utensil", "Hold and manipulate controller the remote", "Reach and grasp electronic device the remote", "Hold and examine electronic device the remote", "Release electronic device the remote", "pick up remote the remote", "watch grasp the other", "hold and manipulate remote the remote", "Open Cabinet Door the other", "Close Cabinet Door the other", "Grasp Slide Sandal the other", "Hold and Examine Slide Sandal the other", "release remote the remote", "grasp watch the other", "hold watch the other", "release watch the other", "Open pouch and arrange contents the other", "Close pouch the other", "Pick up pouch the other", "object manipulation the other", "grasp glue stick the other", "hold and manipulate glue stick the other", "release glue stick the other", "lift keychain the keys", "holding bottle over outlet the bottle", "Hammer Grasp the tool", "reach and grasp remote the other", "release remote the other", "Grasp remote the remote", "hold and lift bottle the bottle", "release bottle the bottle", "lifting spoon the utensil", "stirring the utensil", "Reach and grasp bottle the bottle", "picking up and putting down a cup the cup_mug", "grasp cup the cup_mug", "release cup the cup_mug", "reach for remote the remote", "grasp remote the remote", "reach and grasp cup the cup_mug", "hold and release cup the cup_mug", "reach and grasp the bottle", "holding bottle the bottle", "preparing vegetables the utensil", "grasp coffee cup the cup_mug", "Grasp Keys the keys", "Hold Keys the keys", "Release Keys the keys", "hold cup the cup_mug", "Shoe mold assembly the tool", "grasp keys the keys", "reach and grasp the container", "hold the container", "hold bottle the other", "Lift and Hold Mug the cup_mug", "Release Mug the cup_mug", "Grasp wrench the tool", "Adjust wrench jaws the tool", "Hold wrench the tool", "reach and grasp pen the other", "lift and hold pen the other", "release pen the other", "Handle tomatoes the other", "lift and tilt container the container", "hold container the container", "Hold trash bag roll the other", "typing the remote", "hand gesture the remote", "Typing on Laptop the remote", "typing on laptop the remote", "typing username the remote", "interacting with faucet the remote", "grasp plug adapter the other", "hold plug adapter the other", "release plug adapter the other", "reach and grasp pens the other", "Grasp cigarettes the other", "grasping cup the other", "grasping bubble tea the other", "holding object the remote", "object manipulation the remote", "Hold and Manipulate Pencil the remote", "holding egg over pot the remote", "transferring paste the other", "Hold knife over cutting board the other", "holding hand sanitizer the remote", "holding and typing the remote", "Hold and Rotate Hand Sanitizer the remote", "Hold ruler over keyboard the remote", "Hold lighter the remote", "holding and manipulating eyebrow razor the remote", "Hold pen the remote", "Hold hand sanitizer the remote", "grasp cable package the other", "release cable package the other", "reach and grasp mug the cup_mug", "hold mug the cup_mug", "Release Book the book", "Flip pages the book", "holding cup the other", "grasp phone screen the other", "hold and examine phone screen the other", "release phone screen the other", "Reach and Grasp Tape the other", "Unroll Tape the other", "Place Tape Down the other", "Grasp Milk Carton the other", "Rotate Milk Carton the other", "Place Milk Carton the other", "Hold Milk Carton the other", "Release Lighter the other", "Hold knife the other", "Place knife in sheath the other", "Release knife the other", "grasp pen the other", "hold pen the other", "Picking up a black Lego brick from the table the container", "Reaching into the Lego container the container", "Picking up a yellow Lego brick from the container the container", "Placing a yellow Lego brick into the container the container", "Picking up a red Lego piece from the table the container", "turn on lamp the other", "adjust lamp the other", "grasp power adapter the other", "inspect power adapter the other", "release power adapter the other", "massage the other", "Pick up case the other", "Open case the other", "Close case the other", "Place case down the other", "hold keys the keys", "release keys the keys", "Page Turning the book", "Holding and Reading Book the book", "Turning Book Pages the book", "hold drink the other", "Flip Pages the book", "Hold mug the cup_mug", "Reach and Grasp Bottle the other", "Reach and Grasp the other", "Hold and Display the other", "Putting on Crocs the other", "grasp lipstick the other", "hold and manipulate lipstick the other", "Grasp Packet the other", "Manipulate Packet the other", "Release Packet the other", "Grasp wet wipes the other", "Release wet wipes the other", "grasp sugar packet the other", "hold and manipulate sugar packet the other", "release sugar packet the other", "grasp phone case the other", "hold and examine phone case the other", "release phone case the other", "Open Drawer the tool", "Retrieve Scissors the tool", "grasp screw the tool", "hold screw the tool", "Pouring Water the other", "grasping noodles the other", "transferring noodles the other", "holding and manipulating neck mount the other", "Hold and Manipulate Package the other", "sewing the container", "Sewing the container", "Child playing on slide the other", "playing drums the other", "playing with blocks the other", "Stack bricks the other", "Reach for another brick the other", "hold the bottle", "release the bottle", "holding razor the tool", "Hold and Rotate Wet Wipes the container", "Hold cup the bottle", "grasp speaker the remote", "hold and rotate speaker the remote", "book interaction the book", "Reading and Turning Page the book", "Turning Page the book", "holding bowl and spoon the utensil", "holding plate the container", "food preparation the utensil", "Food preparation the utensil", "grasp water bottle the other", "hold water bottle the other", "Grasp Back Scratcher the container", "Hold and Move Back Scratcher the container", "holding brush the other", "cleaning action the other", "stirring liquid the other", "Open AirPods Case the other", "Close AirPods Case the other", "holding and drinking coffee the cup_mug", "hold and move teacup the cup_mug", "holding and manipulating toy the other", "holding drink the cup_mug", "grasp toy the other", "hold and release toy the other", "reach for glasses the other", "grasp glasses the other", "hold glasses the other", "hold and manipulate the other", "grasp scissors the tool", "hold scissors the tool", "feeding the utensil", "reach and grasp the tool", "hold the tool", "Open purse the container", "grasp invitation the other", "open invitation the other", "Rotate Object the bottle", "grasp lid the cup_mug", "release lid the cup_mug", "Open Lighter the other", "Close Lighter the other", "grasp box the other", "grasp cone the other", "hold cone the other", "release cone the other", "reach and grasp book the other", "turn book pages the other", "hold and release bottle the bottle", "Grasp Fork and Spoon the utensil", "Hold Fork and Spoon the utensil", "Release Fork and Spoon the utensil", "Hold and Rotate Bottle the container", "Reach for curtain the other", "Grasp curtain the other", "Pull curtain the other", "Reach and Grasp Balloon the other", "Hold Balloon the other", "sweeping the other", "reach and grasp card the other", "hold and examine card the other", "Grasp snack the bottle", "snack interaction the bottle", "petting cat the other", "release the other", "Hold and Rotate the other", "Release the other", "place laptop down the other", "pull tissue the other", "grasp spool the other", "hold and manipulate spool the other", "Extract cookie the other", "Place cookie back the other", "Grasp cards the other", "Hold and examine cards the other", "Release cards the other", "holding folder the book", "holding stapler the tool", "Holding notebook the book", "holding water bottle the bottle", "grasp pliers the tool", "hold pliers the tool", "Hold kettle the other", "watch wearing the other", "reach and grasp key the keys", "hold and release key the keys", "Grinding with mortar and pestle the utensil", "holding plum the other", "holding bowl the utensil", "holding drink the other", "grasp sauce bottle the other", "eating the utensil", "pick up soup bowl lid the other", "Reach for helmet the other", "Grasp and lift helmet the other", "reach and grasp bag the other", "grasping small papers the other", "grasp book the book", "hold book the book", "release book the book", "grasp tape the other", "release tape the other", "grasp pencil the other", "hold pencil the other", "drink from coffee cup the cup_mug", "release coffee cup the cup_mug", "Hold and Rotate Bottle the other", "Hold and Rotate Cotton Pads the other", "Hold and Rotate Face Mist Bottle the other", "holding toy the other", "reach and grasp sauce bottle the other", "hold sauce bottle the other", "Grasp wooden object the other", "Hold and move wooden object the other", "Release wooden object the other", "scooping and adding ingredient the bottle", "Hold Cap the other", "browsing guitars the container", "turn doorknob the other", "pick up figurine the other", "hold figurine the other", "place down figurine the other", "hold charger the other", "pick up toy car the other", "place down toy car the other", "Pick up remote the other", "Hold and press button the other", "grasp socks the other", "release socks the other", "preparing food the container", "Helmet Buckle Manipulation the container", "manipulating colander the container", "lifting bowl the other", "holding and examining stickers the other", "flipping sticker sheet the other", "holding baby wipes the other", "Holding and examining receipt the other", "Placing receipt on floor the other", "holding tumbler the cup_mug", "holding bowl and colander the utensil", "holding hot chili sauce bottle the bottle", "Hold Kettle the utensil", "writing on clipboard the container", "grasping ring the container", "Grasp hair clip the container", "Hold and manipulate hair clip the container", "Release hair clip the container", "grasping container the container", "manipulating container the container", "releasing container the container", "Reach for bottle the container", "Grasp bottle the container", "plugging in device the container", "unplugging device the container", "hold cards the container", "hold milk carton the other", "Preparing Food/Drink the container", "Hold Bowl the other", "holding cucumber the other", "hairdryer and shoe interaction the container", "holding hairdryer and drying shoes the container", "Handle and Mesh Interaction the container", "Finger-Mesh Contact the container", "holding and examining object the container", "Opening refrigerator and retrieving items the container", "Move and Place Pot the container", "washing dishes the container", "Hand touching a hanger the container", "Hand moving a hanger the container", "Hand interacting with clothes the container", "cleaning shoes the container", "cleaning shoe the container", "washing vegetables the container", "turning on induction cooktop the container", "mop floor the container", "grasp shoe the container", "release shoe the container", "Putting on socks the container", "Open backpack and place items the container", "Putting on jacket the container", "manipulate wire the container", "slippers interaction the container", "wire manipulation the container", "unplug power adapter the container", "touching and interacting with light bulb the container", "interacting with hanger and loop the container", "manipulating fork the utensil", "Hold Spoon the utensil", "press button the remote", "Holding shirt on hanger the other", "holding box the container", "holding power strip the other", "open container the other", "Holding and moving a comb the other", "Hold eyeshadow palette the other", "holding makeup brush the other", "grasp power adapter the remote", "grasp nail clippers the tool", "Hold Ring the other", "watch manipulation the other", "Holding and adjusting fan speed the other", "Reach and Grasp Backpack the other", "Manipulate Zipper the other", "hold and move pillow the other", "release pillow the other", "reviewing lottery tickets the container", "release stuffed animal the other", "grasp candy the other", "hold candy the other", "grasp pillow the other", "Grasp Wallet the other", "Hold and Manipulate Wallet the other", "Hold Booklet the book", "eating the container", "holding mints the other", "reach and grasp onigiri the other", "hold onigiri the other", "Grasp Kinder Joy the other", "Lift Kinder Joy the other", "Move Kinder Joy the other", "Grasp Meat Tenderizer the tool", "Hold Meat Tenderizer the tool", "lift kit the container", "place kit the container", "holding glasses the other", "Hold the utensil", "Holding and rotating oil pastel box the other", "Grasp jar the bottle", "grasp mug the cup_mug", "Hold and Rotate Earbud Case the remote", "Hold and Adjust Picture Frame the other", "release seeds the other", "holding handbag the other", "holding and rotating mirror the other", "holding notebook the book", "Holding Toothbrush the other", "holding and tilting bottle the utensil", "holding and tilting bowl the utensil", "grasp sandal the other", "grasp throttle the container", "adjusting mirror the container", "fan interaction the container", "motorcycle part interaction the container", "calendar page tear the container", "Ignite lighter the container", "Hold lighter the container", "Extinguish lighter the container", "adjusting router antennas the container", "Grasp and Wipe the container", "Grasping Scissors the container", "reach and grasp toothpick dispenser the bottle", "hold and place toothpick dispenser the bottle", "Remove rice cooker lid the container", "Interact with food in rice cooker the container", "rotate fetal doppler the other", "release fetal doppler the other", "Grasp Ultrasound Gel the other", "Washing Fruits the container", "interacting with bag the container", "grasp razor the container", "remove packaging the container", "grasp mosquito racket the container", "turn on mosquito racket the container", "Grasp and Manipulate the container", "grasp bag handle the container", "adjusting air conditioner louvers the container", "grasp penguin object the container", "unplugging the container", "Grasp and turn doorknob the container", "Open door the container", "manipulating cloth cord the container", "grasp package the container", "hanging towel the container", "reach and grasp speaker the container", "hold and lift speaker the container", "opening and squeezing tube the container", "grasp object the container", "holding cup the cup_mug", "Pick up notebook the book", "Hold notebook the book", "Place down notebook the book", "Rotate water bottle the bottle", "Pencil Interaction the other", "reach and grasp necklace the other", "hold and examine necklace the other", "grasp and manipulate bottle the other", "grasp chopsticks the other", "release chopsticks the other", "Grasp bottle the bottle", "Grasp Bottle Cap the other", "grasp laptop the other", "grasp object the other", "hold object the other", "Book Interaction the book", "Grasp Pot the other", "Lift Pot the other", "Release Pot the other", "Hold the other", "Hold and examine crackers the other", "grasp clothespin the other", "hold and release clothespin the other", "hold knife the other", "holding and rotating screw the tool", "Grasp smartwatch the other", "Interact with smartwatch screen the other", "Release smartwatch the other", "Grasp cube the other", "Hold cap the other", "Grasp Toothbrush the other", "Ironing the other", "Reach and Grasp the bottle", "notebook interaction the book", "Grasp and open pouch the other", "Retrieve lightbulb the other", "Hold and move lightbulb the other", "hold and interact with magic book the other", "hold and lift cable the other", "grasp satellite receiver the other", "Grasp Guitar Pick the other", "Hold Guitar Pick the other", "Release Guitar Pick the other", "Grasp Pen the other", "Write on Paper the other", "Grasp and retrieve photo the other", "Place photo next to pouch the other", "reach and grasp mirror the other", "hold and inspect mirror the other", "grasp and hold medication bag the other", "grasp screwdriver the other", "grasp screwdriver bit the other", "insert screwdriver bit the other", "Paper Interaction the other", "Grasp and Remove Cap the other", "Replace Cap the other", "grasping plastic bag the other", "manipulating plastic bag the other", "holding plastic bag the other", "grasp labels the other", "release labels the other", "Grasp zip ties the other", "Hold zip ties the other", "manual interaction the other", "grasp thread and needle the other", "hold thread and needle the other", "grasping staple box the other", "opening staple box the other", "holding staple the other", "releasing staple the other", "release glasses the other", "press tally counter button the other", "shoelace grasp the other", "shoelace lift and manipulate the other", "Grasp Tube the other", "Hold Tube the other", "grasp cd case the other", "manipulate cd case the other", "hold cd case the other", "Cat interacts with bag the other", "grasp drawstring bag the other", "hold drawstring bag the other", "release drawstring bag the other", "grasp book the other", "hold and move book the other", "release book the other", "grasp microphone the other", "hold microphone the other", "release microphone the other", "Rotate Photo Frame the other", "Hold Photo Frame the other", "retrieve items the other", "hold items the other", "holding and turning invitation the other", "jersey interaction the other", "opening package and taking out snack the other", "hold blood pressure monitor the other", "release blood pressure monitor the other", "Reach for faucet the other", "Turn on faucet and rinse bucket the other", "Turn off faucet the other", "grasp wheel the other", "rotate wheel the other", "reposition wheel the other", "inspecting water pump the other", "Reach and Touch Tree Trunk the other", "manipulate blister pack the other", "hold blister pack the other", "Grasp Air Fryer Basket the other", "Place Tissues in Box the other", "Place Tissue Box Lid the other", "grasp plant the other", "grasping trunk the other", "Hold Grill Rack the other", "stacking cups the other", "picking up spoons the other", "grinding the other", "Wiping windshield the other", "sticker application the other", "Reaching for and grasping sticker pack the other", "Pulling stickers from pack the other", "grasp earbud tips the other", "reach the other", "hold battery the other", "hold both batteries the other", "grasp fanny pack the other", "hold fanny pack the other", "place fanny pack on cabinet the other", "Grasp Chopsticks the other", "Hold Spatula the other", "Grasp and Lift Mortar the other", "Rotate and Manipulate Mortar the other", "Release Mortar the other", "Grasp book the book", "manipulate the other", "reach and grasp plate the other", "hold and move plate the other", "Grasp Onion the other", "Hold and Rotate Onion the other", "Hold and move vegetable the other", "Grasp Masako seasoning the other", "Hold Masako seasoning the other", "Release Masako seasoning the other", "shake bottle the other", "release bottle the other", "grasp lighter the other", "hold lighter the other", "release lighter the other", "grasp knife the other", "Hold and Spin Fidget Spinner the other", "place bowl on scale the other", "adjust scale dial the other", "Grasp Booklet the book", "hold and manipulate cup the other", "Document Interaction the other", "Remove blister pack the other", "grasp beans the other", "manipulate beans the other", "picking mango with toothpick the other", "scooping rice the other", "placing rice the other", "hold and rotate the other", "grasp dragon fruit the other", "paper manipulation the other", "release glass the cup_mug", "holding brownie box the other", "holding card the other", "grasp ramen the other", "release ramen the other", "reach and grasp box the container", "hold object the container", "reach and grasp vial the container", "hold and release vial the container", "grasp vial the container", "Grasp and Hold Bottle the other", "Rotate and Manipulate Bottle the other", "Open package the container", "hold sunscreen the container", "Hold yogurt drink the container", "manipulating card the container", "reach and grasp packet the container", "hold and release packet the container", "grasp glasses the container", "release glasses the container", "pen grasp the container", "pen hold and move the container", "manipulate object the container", "Grasp Object the container", "Hold and Move Object the container", "grasp yellow object the container", "release yellow object the container", "Hold and manipulate cloth the container", "holding pen the container", "grasp headband the tool", "holding spoon the utensil", "grasp object the utensil", "hold object the utensil", "Hand on book the book", "Pick up book the book", "Hold book the book", "grasp the remote", "Release the tool", "manipulate book the book", "place lid back the container", "grasp spoon the utensil", "hold spoon the utensil", "reach and grasp vase the bottle", "opening container the container", "closing container the container", "Grasp Bowl the utensil", "Hold Bowl the utensil", "Release Bowl the utensil", "grasp tablet the other", "hold tablet the other", "touching broken door the other", "Grasping and Holding Rolled Material the other", "Hold Helmet the other", "reach and grasp bottle the other", "hold and release bottle the other", "grasp and lift tofu the other", "release tofu the other", "pen grasp the book", "Reach and Grasp the container", "Hold and Lift the container", "Grasp Lighter the keys", "hold and lift wrist brace the tool", "release wrist brace the tool", "Grasp Hanger the other", "Hold Hanger the other", "manipulate sheet the other", "reach and grasp paintbrush the other", "hold paintbrush the other", "release paintbrush the other", "drawing the other", "pointing at screen the other", "adjust headrest the other", "cutting rubber band the other", "Grasp and move clear bottle again the other", "pick up paper and throw in trash the other", "pick up plastic bag and throw in trash the other", "grasping food the other", "grasp drain stopper the other", "turn drain stopper the other", "hold drain stopper the other", "release drain stopper the other", "grasp and turn drain stopper the other", "Grasping Utensils the other", "Grasp and stir straw the other", "place lid on tissue box the other", "lift and rotate cup the other", "release cup the other", "Grasp Ashtray the other", "touching chair the other", "Interact with poster the other", "Putting on flip-flops the other", "poke and pull damaged surface the other", "Flip Booklet Pages the book", "Hold and open wallet the other", "grasp keys the other", "grasp handbag the other", "map interaction the other", "turning on faucet the other", "turning off faucet the other", "Grasping railing the other", "reach and grasp fire extinguisher the other", "interacting with poster the other", "interacting with sign the other", "Hand on bench the other", "pointing at organizational chart the other", "interacting with priority seating sign the other", "Peeling Egg the other", "grasp straws the other", "washing egg the other", "Reach and grasp sachets the other", "Hold and manipulate sachets the other", "Release sachet the other", "Observe released sachet the other", "Pouring water into washing machine the other", "Grasp Loofah the other", "Close Washing Machine Lid the other", "placing t-shirt in laundry basket the other", "picking up flip-flop the other", "placing flip-flop the other", "adjusting flip-flop the other", "writing on sack the other", "reach for lightbulb the other", "grasp lightbulb the other", "hold lightbulb the other", "Reach and Grasp Manhole Cover Handle the other", "valve manipulation the other", "hanging towel the other", "reach for eggplant the other", "grasp eggplant the other", "hold eggplant the other", "Grasp and manipulate wiper the other", "Plucking guitar string the other", "Basket Grasp and Lift the other", "reach and grasp pear the other", "hold and examine pear the other", "release pear the other", "Hold air freshener the other", "cutting lime the other", "grasp perfume bottle the other", "hold and place perfume bottle the other", "reach and grasp gloves the other", "manipulate gloves the other", "release gloves the other", "plant interaction the other", "remote control electricity meter the other", "holding laundry basket the other", "Grasp Keys the other", "Release Keys the other", "Grasp Keys Again the other", "grasp bowl the other", "hold bowl the other", "place bowl the other", "hold food processor bowl the other", "release food processor bowl the other", "Manipulation the other", "grasp pot lid the other", "hold pot lid the other", "release pot lid the other", "hold container the other", "remove cap the other", "grasp canister the other", "hold canister the other", "grasp kettle the other", "lift kettle the other", "hold tray the other", "release tray the other", "playing with cat the other", "picking chili pepper the other", "reach for plant the other", "hold plant the other", "operating fan with remote the other", "insert battery the other", "close battery compartment the other", "open phone case the other", "close phone case the other", "hold phone case the other", "grasp teddy bear the other", "hold teddy bear the other", "release teddy bear the other", "button interaction the other", "reach and grasp cable the other", "slide hand along cable the other", "release cable the other", "Insert new batteries the other", "Close remote battery compartment the other", "Hold remote control the other", "Interacting with piano chord cheat sheet the other", "grasping power adapter the other", "inserting power adapter into wall socket the other", "grasp scrunchie the other", "hold scrunchie the other", "Hold and Move the other", "grasp packet the other", "release packet the other", "grasp and manipulate object the other", "Catching Raindrops the other", "grasp spread container the container", "grasp bracelet the other", "hold bracelet the other", "Grasp Toothpaste the container", "wipe stovetop the other", "pointing at laptop screen the other", "plugging in keyboard cable the other", "unplugging keyboard cable the other", "Putting on sock the other", "cutting tape the other", "connecting phone to charger the other", "Open trash can lid the other", "Close trash can lid the other", "Holding food the other", "pointing at lizard the other", "Release pillow the other", "plug in device the other", "Grasp and manipulate thread the other", "hold and interact with cat the other", "Adjusting TV Mount the other", "Reach for jacket the other", "Grasp jacket the other", "Hold and remove jacket the other", "manipulating toothpick the other", "Grasp bag the other", "Lift bag the other", "reach for egg the other", "grasp egg the other", "grasping earrings the other", "holding earrings the other", "releasing earrings the other", "Grasp Hand Sanitizer the other", "Spray Hand Sanitizer the other", "Release Hand Sanitizer the other", "spraying garment the other", "SIM Eject the other", "Opening package the other", "Extracting mint the other", "Pulling Curtain the other", "Open Box the other", "Grasp Sandal the other", "Hold Sandal the other", "place cup in bag the other", "place card on napkin the other", "pick up card the other", "place card on napkin again the other", "grasp napkin the other", "release napkin the other", "reach and grasp wallet the other", "plugging in cable the other", "Removing fuel cap the other", "grasp keychain the other", "holding ice cream cone the other", "Adjusting Chair Height the other", "applying sauce to egg the other", "Grasp Curtain Tie-back the other", "Grasp Teapot the other", "Hold Teapot the other", "Grasp bag of seeds the other", "grasping chilies the other", "washing pot the other", "scoop powder the other", "boiling eggs the other", "grasp mat the other", "release mat the other", "place lid on pan the other", "grasp container bag the other", "grasp noodles the other", "grasp flour bag the other", "grasping and extracting candles the other", "watering plants the other", "Grasp abrasive disc the other", "Flip abrasive disc the other", "Lift and Rotate the other", "reach and grasp spray can the other", "hold spray can the other", "reach and grasp power planer the tool", "hold power planer the tool", "grasp rope the other", "hold rope the other", "Painting with a roller the other", "Lift and Hold Toolbox the other", "hold and inspect tail light the other", "grasp tape measure the other", "extend tape measure the other", "retract tape measure the other", "hold tape measure the other", "wiper manipulation the other", "Hold and Check Level the tool", "grasp napkin pack the other", "reach and grasp bucket the other", "lift and move bucket the other", "release bucket the other", "hold cups the other", "Reach and Grasp Book the book", "Hold and Rotate Book the book", "holding object the other", "Hold Hose Nozzle the other", "Approaching and touching the box the other", "sweep floor the other", "cutting paper bag the other", "rotate phone case the other", "Hold Chopsticks the other", "grasp face mask the other", "hold face mask the other", "Grasp object the other", "Hold and rotate object the other", "reach and grasp ultrasound photos the other", "hold toy the other", "Grasp Peanut Butter Jar the other", "Hold Peanut Butter Jar the other", "pocket to hand retrieval the other", "Place Phone on Blanket the other", "open bottle and take pill the other", "reach and grasp cotton pads the other", "pull cotton pads out of bag the other", "hold cotton pads the other", "scooping water the other", "holding shrimp the other", "grasp ice bag the other", "hold ice bag the other", "placing basket down the container", "browsing ice cream freezer the other", "reach and grasp sugar bag the other", "Hold Choco Pie the other", "hold and move water bottle the bottle", "Grasp garlic press the utensil", "Hold garlic press the utensil", "Reach and Grasp Fork the utensil", "Grasp and Lift Clog the other", "Place Clog and Adjust the other", "reach and grasp booklet the book", "manipulate booklet the book", "release booklet the book", "reach and grasp the remote", "hold the remote", "release the remote", "using laptop the remote", "Filling bottle the cup_mug", "Turning off faucet and placing bottle the cup_mug", "dispense food the cup_mug", "finish dispensing the cup_mug", "grasp bucket handle the container", "lift bucket the container", "Hold Flashlight the tool", "hold voltage tester the tool", "hold cup the other", "holding and rotating garlic the other", "release egg the other", "reach and grasp hook package the other", "hold and examine hook package the other", "grasp paper the other", "hold paper the other", "offering screw to kitten the other", "kitten interacting with screw the other", "kitten playing with screw the other", "picking up sticker the other", "placing sticker on basket the other", "cat enters basket the other", "hold and press remote the remote", "Grasp Nescafé sachets the other", "Interact with kitten the other", "grasp and lift device the other", "manipulate device the other", "release device the other", "hold and examine object the other", "release object the other", "Grasp Watch the other", "Hold and Examine Watch the other", "reach and grasp cube the other", "reach and grasp pencil sharpener the other", "place pencil sharpener next to cube the other", "Grasp paint pots the other", "Hold paint pots the other", "Place paint pots the other"

Training Configuration

Setting	Value
Training steps	20000
Batch size	8
Optimizer	adamw
Learning rate	1e-05
Seed	1000
LeRobot version	0.6.0

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

Install LeRobot — set up the lerobot package.
Hardware setup — assemble, wire, and calibrate your robot and cameras.
Record data & train a policy — the end-to-end imitation-learning walkthrough.
CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=robox_ego_hand \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=as54/lerobot_model_ego_grasp_test1 \
  --task="folding paper the other" \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=act \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

Evaluation

No evaluation results have been provided for this policy yet.

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}

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Safetensors

Model size

51.7M params

Tensor type

F32

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Robotics

Dataset used to train as54/lerobot_model_ego_grasp_test1

Paper for as54/lerobot_model_ego_grasp_test1

Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Paper • 2304.13705 • Published Apr 23, 2023 • 7