---
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
```