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README.md

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+# A2 Pretrained Model
+
+Pretrained ViLGP3D model for 6-DOF grasp pose selection in tabletop manipulation.
+
+## Model Architecture
+
+- **Network**: CLIPAction (CLIP-based action selection with cross-attention)
+- **Width**: 768
+- **Layers**: 1
+- **Heads**: 8
+- **Action Dim**: 7 (xyz + quaternion)
+- **Features**: RoPE (Rotary Position Encoding)
+
+## Usage
+
+```python
+from lerobot_policy_a2 import A2Policy, A2Config
+
+# Load pretrained model
+policy = A2Policy.from_pretrained("dgrachev/a2_pretrained")
+```
+
+## Training Data
+
+Trained on simulated tabletop grasping with UR5e robot and Robotiq gripper.
+
+## Related
+
+- Environment: Install with `pip install lerobot[a2]`
+- Assets: [dgrachev/a2_assets](https://huggingface.co/datasets/dgrachev/a2_assets)