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README.md

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+---
+license: mit
+tags:
+- robotics
+- act
+- vla
+- gearbox-assembly
+- imitation-learning
+metrics:
+- l1_loss
+- kl_divergence
+---
+
+# ACT Policy for Gearbox Assembly (Filtered Demos)
+
+This model is an **Action Chunking with Transformers (ACT)** policy trained to perform gearbox assembly tasks. It was trained using behavior cloning on a combination of `rocochallenge2025` and additional collected datasets.
+
+## Model Details
+
+- **Model Type**: ACT (Action Chunking with Transformers)
+- **Policy Class**: ACT
+- **Backbone**: ResNet-18
+- **Training Dataset**: Integrated dataset (`rocochallenge2025` + `temp_new_dataset`) containing **241 episodes**.
+- **Episode Length**: Fixed to **12,600 steps** (padded/truncated) to handle variable length recordings.
+
+## Training Configuration
+- **Task Name**: `sim_gearbox_assembly_demos_filtered`
+- **Batch Size**: 32
+- **Chunk Size (Action Horizon)**: 100
+- **KL Weight**: 10
+- **Hidden Dimension**: 512
+- **Feedforward Dimension**: 3200
+- **Learning Rate**: 1e-5
+- **Num Epochs**: ~9500 (Early stopped/Interrupted)
+- **Seed**: 0
+
+## Inputs and Outputs
+- **Observations**:
+  - `head_rgb` (240x320)
+  - `left_hand_rgb` (240x320)
+  - `right_hand_rgb` (240x320)
+  - `qpos` (14-dim joint positions)
+- **Actions**:
+  - 14-dim combined action vector (7-dim left arm + 7-dim right arm)
+
+## Usages
+
+This model can be loaded using the `ACTPolicy` class. Ensure `dataset_stats.pkl` is loaded to normalize/unnormalize observations and actions correctly.
+
+```python
+from policy import ACTPolicy
+import pickle
+
+# Load stats
+with open('dataset_stats.pkl', 'rb') as f:
+    stats = pickle.load(f)
+
+# Load policy
+policy = ACTPolicy(config)
+policy.load_state_dict(torch.load('policy_best.ckpt'))
+policy.cuda()
+policy.eval()
+```