---
datasets: subhodipsaha/so101_grab_release_07_01
library_name: lerobot
license: apache-2.0
model_name: act
pipeline_tag: robotics
tags:
- robotics
- lerobot
- act
---

# Model Card for act

<!-- Provide a quick summary of what the model is/does. -->


[Action Chunking with Transformers (ACT)](https://huggingface.co/papers/2304.13705) 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](https://github.com/huggingface/lerobot).
See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).

---

## How to Get Started with the Model

For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
Below is the short version on how to train and run inference/eval:

### Train from scratch

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

_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._

### Evaluate the policy/run inference

```bash
lerobot-record \
  --robot.type=so100_follower \
  --dataset.repo_id=<hf_user>/eval_<dataset> \
  --policy.path=<hf_user>/<desired_policy_repo_id> \
  --episodes=10
```

Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.

---

## Model Details

- **License:** apache-2.0

## Comments
- First trained upto 10k steps, it did work, but grabbing was not very good (gripper was rotated). Loss ~14
- Trained 10k steps more, so total 20k steps and it performed really well including the grabbing and releasing part. Loss ~3