Move groceries from a conveyor to a paper shopping bag.

Action Chunking with Transformers (ACT) 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. See the full documentation at LeRobot Docs.

For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:

Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.