Primeavel/act-pickupandputaway-absolute-20k-n10

Pickup and Put Away — Absolute ACT 20k

LeRobot ACT policy trained for a bimanual pickup-and-put-away task.

Configuration

• Action representation: absolute actions
• Training steps: 20,000
• Chunk size: 100
• n_action_steps: 10
• Parameters: 51,619,729
• State dimensions: 17
• Action dimensions: 17
• Cameras: right, left and head

Loading

from lerobot.policies.act.modeling_act import ACTPolicy

policy = ACTPolicy.from_pretrained(
    "Primeavel/act-pickupandputaway-absolute-20k-n10"
)
policy.eval()
policy.reset()

Safety

This model has passed offline evaluation but has not been approved for unguarded physical execution. Use calibrated joint limits, movement-step limits, gripper clamping and shadow-mode testing before commanding physical motors.