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act-openarm-2-cell-pick_up_cube_mujoco
enactic/act-openarm-2-cell-pick_up_cube_mujoco
act-openarm-2-cell-pick_up_cube_mujoco is a robotics model from enactic. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
Action Chunking with Transformers (ACT) policy trained with LeRobot on the k1000dai/openarm-2-cell-pickupcubemujoco-lerobot dataset: a bimanual OpenArm robot performing a cube pick-up task in MuJoCo simulation.
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Aug 19, 2026
- Updated
- Aug 19, 2026
- SHA
- 27cbd9a2
Model card
From the Hugging Face model README
Model Card for act-openarm-2-cell-pick_up_cube_mujoco
Action Chunking with Transformers (ACT) policy trained with LeRobot on the k1000dai/openarm-2-cell-pick_up_cube_mujoco-lerobot dataset: a bimanual OpenArm robot performing a cube pick-up task in MuJoCo simulation.
See the full LeRobot documentation at huggingface.co/docs/lerobot.
Model Details
- Policy type: ACT (Action Chunking with Transformers)
- Vision backbone: ResNet-18 (ImageNet pretrained)
- Chunk size / action steps: 100 / 100
- VAE: enabled (latent dim 32, KL weight 10.0)
- Transformer: dim_model 512, 8 heads, 4 encoder layers, 1 decoder layer
Inputs
| Feature | Type | Shape |
|---|---|---|
observation.state | STATE | (16,) |
observation.images.ceiling | VISUAL | (3, 600, 960) |
observation.images.head_left | VISUAL | (3, 720, 1280) |
observation.images.head_right | VISUAL | (3, 720, 1280) |
observation.images.wrist_left | VISUAL | (3, 600, 960) |
observation.images.wrist_right | VISUAL | (3, 600, 960) |
Outputs
| Feature | Type | Shape |
|---|---|---|
action | ACTION | (16,) |
Training
- Dataset: k1000dai/openarm-2-cell-pick_up_cube_mujoco-lerobot
- Steps: 10,000
- Batch size: 8
- Optimizer: AdamW (lr 1e-5, weight decay 1e-4, grad clip 10.0)
- Normalization: mean/std for visual, state, and action features
- Seed: 1000
How to Use
from lerobot.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained("k1000dai/act-openarm-2-cell-pick_up_cube_mujoco")
To evaluate or fine-tune with the LeRobot CLI, pass --policy.path=k1000dai/act-openarm-2-cell-pick_up_cube_mujoco.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Aug 19, 2026
- Updated
- Aug 19, 2026