ARC-AI ACT Policy
Action Chunking with Transformers (CVAE architecture) for robotic manipulation.
Specs
| Parameter | Value |
|---|---|
| Parameters | 2,200,000 |
| Architecture | CVAE + Transformer Decoder |
| Training Steps | 100,000 |
| Best Loss | 0.00011 |
| Action Horizon | 16 steps |
| Hidden Dim | 256 |
| Attention Heads | 4 |
| Layers | 2 |
| Latent Dim | 32 |
Usage
import torch
model = torch.load("checkpoints/act_policy_100k.pt")