library_name: pytorch
license: other
tags:
- android
pipeline_tag: robotics
ACT: Optimized for Qualcomm Devices
ACT (Action Chunking with Transformers) is a robotic policy model that is trained to predict the next chunk of actions that the robotic hand is expected to perform.
This is based on the implementation of ACT found here. This repository contains pre-exported model files optimized for Qualcomm® devices. You can use the Qualcomm® AI Hub Models library to export with custom configurations. More details on model performance across various devices, can be found here.
Qualcomm AI Hub Models uses Qualcomm AI Hub Workbench to compile, profile, and evaluate this model. Sign up to run these models on a hosted Qualcomm® device.
Getting Started
There are two ways to deploy this model on your device:
Option 1: Download Pre-Exported Models
Below are pre-exported model assets ready for deployment.
| Runtime | Precision | Chipset | SDK Versions | Download |
|---|---|---|---|---|
| ONNX | float | Universal | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| QNN_DLC | float | Universal | QAIRT 2.43 | Download |
| TFLITE | float | Universal | QAIRT 2.43, TFLite 2.17.0 | Download |
For more device-specific assets and performance metrics, visit ACT on Qualcomm® AI Hub.
Option 2: Export with Custom Configurations
Use the Qualcomm® AI Hub Models Python library to compile and export the model with your own:
- Custom weights (e.g., fine-tuned checkpoints)
- Custom input shapes
- Target device and runtime configurations
This option is ideal if you need to customize the model beyond the default configuration provided here.
See our repository for ACT on GitHub for usage instructions.
Model Details
Model Type: Model_use_case.robotics
Model Stats:
- Model checkpoint: act
- Input resolution: 480x640
- Number of parameters: 83.92M
- Model size (float): 255M
Performance Summary
| Model | Runtime | Precision | Chipset | Inference Time (ms) | Peak Memory Range (MB) | Primary Compute Unit |
|---|---|---|---|---|---|---|
| ACT | ONNX | float | Snapdragon® X2 Elite | 6.165 ms | 63 - 63 MB | NPU |
| ACT | ONNX | float | Snapdragon® X Elite | 11.872 ms | 62 - 62 MB | NPU |
| ACT | ONNX | float | Snapdragon® 8 Gen 3 Mobile | 8.103 ms | 3 - 385 MB | NPU |
| ACT | ONNX | float | Qualcomm® QCS8550 (Proxy) | 11.214 ms | 0 - 81 MB | NPU |
| ACT | ONNX | float | Qualcomm® QCS9075 | 18.835 ms | 4 - 10 MB | NPU |
| ACT | ONNX | float | Snapdragon® 8 Elite For Galaxy Mobile | 6.573 ms | 3 - 331 MB | NPU |
| ACT | ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 5.496 ms | 4 - 334 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® X2 Elite | 4.932 ms | 4 - 4 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® X Elite | 8.926 ms | 4 - 4 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® 8 Gen 3 Mobile | 5.974 ms | 1 - 344 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® QCS8275 (Proxy) | 43.942 ms | 1 - 308 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® QCS8550 (Proxy) | 8.288 ms | 4 - 7 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA8775P | 13.325 ms | 1 - 294 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® QCS9075 | 15.977 ms | 4 - 9 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® QCS8450 (Proxy) | 16.41 ms | 2 - 263 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA7255P | 43.942 ms | 1 - 308 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA8295P | 15.517 ms | 0 - 230 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® 8 Elite For Galaxy Mobile | 4.768 ms | 4 - 299 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® 8 Elite Gen 5 Mobile | 3.739 ms | 4 - 321 MB | NPU |
| ACT | TFLITE | float | Snapdragon® 8 Gen 3 Mobile | 5.981 ms | 0 - 361 MB | NPU |
| ACT | TFLITE | float | Qualcomm® QCS8275 (Proxy) | 44.134 ms | 0 - 318 MB | NPU |
| ACT | TFLITE | float | Qualcomm® QCS8550 (Proxy) | 8.318 ms | 0 - 3 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA8775P | 13.44 ms | 0 - 304 MB | NPU |
| ACT | TFLITE | float | Qualcomm® QCS9075 | 16.034 ms | 0 - 71 MB | NPU |
| ACT | TFLITE | float | Qualcomm® QCS8450 (Proxy) | 16.392 ms | 0 - 276 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA7255P | 44.134 ms | 0 - 318 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA8295P | 15.711 ms | 0 - 233 MB | NPU |
| ACT | TFLITE | float | Snapdragon® 8 Elite For Galaxy Mobile | 4.816 ms | 0 - 310 MB | NPU |
| ACT | TFLITE | float | Snapdragon® 8 Elite Gen 5 Mobile | 3.799 ms | 0 - 327 MB | NPU |
License
- The license for the original implementation of ACT can be found here.
References
Community
- Join our AI Hub Slack community to collaborate, post questions and learn more about on-device AI.
- For questions or feedback please reach out to us.