---
tags:
- robotics
- act
- lerobot
- hailo
- onnx
- edge-ai
- so101-ros-physical-ai
- ros2
---

# act_so101_auto_v1_hailo10h

Compiled deployment artifacts for running the ACT policy at https://huggingface.co/legalaspro/act_so101_auto_v1 on Raspberry Pi 5 + Hailo-10H.

Includes:
- act_vision.hef
- act_transformer.int8.onnx
- norm_stats.npz

The two ResNet-18 vision encoders run on the Hailo-10H NPU in INT8, while the transformer remains on the Raspberry Pi 5 CPU because multi-head attention does not yet compile reliably in Hailo DFC 5.1.x. In practice this split preserves near-FP32 behavior.

Original ACT policy: https://huggingface.co/legalaspro/act_so101_auto_v1