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

lerobot-eval \
  --policy.repo_id=NEW_HF_USERNAME/ACT-Pick \
  --policy.device=cuda