🤗 ALOHA 14-DOF Bimanual Robot ACT Policy
Trained Vision-Language-Action (VLA) imitation learning policy for ALOHA 14-DOF Dual-Arm Robot executing the Bimanual Cube Transfer & Handover task.
Model Summary
- Architecture: Action Chunking with Transformers (ACT)
- Degrees of Freedom (DOF): 14-DOF (Left Arm 7-DOF + Right Arm 7-DOF)
- Task: Bimanual Cube Transfer, Alignment, Clamping, and Delivery
- Framework: Hugging Face LeRobot
Usage in LeRobot
from lerobot.common.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained("lookarooka/aloha-bimanual-act-policy")
actions = policy.select_action(observation)
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