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. Learn how to train and run it in the LeRobot act guide, or browse the full documentation. The policy consumes these observation features and produces these action features. Inputs Outputs New to LeRobot? These guides cover the full workflow: - Install LeRobot — set up the lerobot package. - Hardware setup — assemble, wire, and calibrate your robot and cameras. - Record data & train a policy — the end-to-end imitation-learning…
act_e6_pick_place is an open-weight model for robotics from Kenji Haruki, released under Apache License 2.0. It has 52M parameters. At 16-bit it needs about 0.1 GB of GPU memory, which fits on 1x MI300X from $1.85 an hour, at the lowest prices in the SAVRN Index.
Parameters52M
Context—
Weights—
Licenseapache-2.0
AccessOpen weights
Monthly Downloads—
Runs On
What it takes to serve act_e6_pick_place (52M parameters): the memory its weights need at each precision, and the cheapest way to rent enough data-center GPUs to hold them.
| Precision | Weights | Memory needed | Cheapest setup | Per hour | Also fits |
|---|---|---|---|---|---|
| 16-bit | 0.1 GB | 0.1 GB | 1x MI300X (192 GB) Vultr |
$1.85 | 1x H100 $1.99 · 1x MI325X $2.00 |
| 8-bit | 0.1 GB | 0.1 GB | 1x MI300X (192 GB) Vultr |
$1.85 | 1x H100 $1.99 · 1x MI325X $2.00 |
| 4-bit | 0.0 GB | 0.0 GB | 1x MI300X (192 GB) Vultr |
$1.85 | 1x H100 $1.99 · 1x MI325X $2.00 |
Memory is the weights at that precision plus 20% for the runtime and a short context; a long context needs more. Prices are the lowest on-demand hourly rates in the SAVRN Index, read Oct 22, 2026.
act_e6_pick_place on every accelerator the SAVRN Index prices, at every precision
Model Card
Identity and Version
- Repository
- tanuki0624/act_e6_pick_place
- Publisher
- Kenji Haruki
- Task
- Robotics
- Modality
- Control
- Library
- lerobot
- Parameters
- 52M parameters
- Languages
- act
- Revision
- 470bf6cba2318244d5fdbe43bf13809deebff0b8
- First published
- 2026-10-20
- Last updated
- 2026-10-21
License and Download
- License
- apache-2.0
- Access
- Open weights, no gate
Download from Kenji Haruki
Released by Kenji Haruki through its official repository on Hugging Face. Read the license.
Built From
- Described by arXiv:2304.13705
- Trained on (disclosed) tanuki0624/e6_pick_place
Memory Requirements
| Precision | Weights in memory |
|---|---|
| 16-bit | 0.1 GB |
| 8-bit | 0.1 GB |
| 4-bit | 0.0 GB |
Weights only, from the published parameter count; the key-value cache and runtime add to this.
Questions About act_e6_pick_place
How much GPU memory does act_e6_pick_place need?
About 0.1 GB at 16-bit and 0 GB at 4-bit: the weights (52M parameters) plus a working margin. A long context needs more.
What is the cheapest GPU to run act_e6_pick_place on?
At 16-bit, 1x MI300X from $1.85 an hour; at 4-bit, 1x MI300X from $1.85 an hour, at the lowest on-demand prices the SAVRN Index lists.
Can I use act_e6_pick_place commercially?
Yes. act_e6_pick_place is released under Apache License 2.0. The Apache License 2.0 is a permissive open-source license. It permits commercial use, modification and redistribution. It requires keeping the license and copyright notices and any NOTICE file, stating significant changes, and it includes an express patent grant from contributors.
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