RoboManipBaselines/ACT-MujocoUR5eCable

Action Chunking with Transformers (ACT)

The model was trained with the MujocoUR5eCable dataset.

Install

See GitHub for installation.

Policy rollout

Run a trained policy:

# Go to the top directory of this repository
$ cd robo_manip_baselines
$ python ./bin/Rollout.py Act MujocoUR5eCable --checkpoint ./checkpoint/Act/<checkpoint_name>/policy_last.ckpt

Technical Details

For more information on the technical details, please see the following paper:

@INPROCEEDINGS{ACT_RSS23,
  author = {Tony Z. Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
  title = {Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year = {2023},
  month = {July},
  doi = {10.15607/RSS.2023.XIX.016}
}

RoboManipBaselines Paper

https://huggingface.co/papers/2509.17057