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. See the full documentation at LeRobot Docs. For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval: Writes checkpoints to outputs/train/ /checkpoints/. Prefix the dataset repo with eval\ and supply --policy.path pointing to a local or hub checkpoint.
act_pick_yellow is an open-weight model for robotics from Neel M, released under Apache License 2.0. It has 37M 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.
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.
Parameters37M
Context—
Weights147.7 MB
Licenseapache-2.0
AccessOpen weights
Monthly Downloads—
Runs On
What it takes to serve act_pick_yellow (37M 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 | 0.0 GB | 0.0 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 $2.00 |
Memory is the weights at that precision plus 20% for the runtime and a short context; a long context needs more. Prices are the lowest on-demand hourly rates in the SAVRN Index, read Oct 18, 2026.
act_pick_yellow on every accelerator the SAVRN Index prices, at every precision
Model Card
By Neel M, published under apache-2.0, revision 432c7d7586bf.
Action Chunking with Transformers (ACT) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates. This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs. For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval: Writes checkpoints to outputs/train/ /checkpoints/. Prefix the dataset repo with eval\ and supply --policy.path pointing to a local or hub checkpoint.
Read Neel M's full model card
Model Card for act
Action Chunking with Transformers (ACT) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.
This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.
How to Get Started with the Model
For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:
Train from scratch
lerobot-train \
--dataset.repo_id=${HF_USER}/<dataset> \
--policy.type=act \
--output_dir=outputs/train/<desired_policy_repo_id> \
--job_name=lerobot_training \
--policy.device=cuda \
--policy.repo_id=${HF_USER}/<desired_policy_repo_id>
--wandb.enable=true
Writes checkpoints to outputs/train/<desired_policy_repo_id>/checkpoints/.
Evaluate the policy/run inference
lerobot-record \
--robot.type=so100_follower \
--dataset.repo_id=<hf_user>/eval_<dataset> \
--policy.path=<hf_user>/<desired_policy_repo_id> \
--episodes=10
Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.
Model Details
- License: apache-2.0
Identity and Version
- Repository
- nhmacwan/act_pick_yellow
- Publisher
- Neel M
- Task
- Robotics
- Modality
- Control
- Library
- lerobot
- Parameters
- 37M parameters
- Languages
- act
- Revision
- 432c7d7586bf64600dbe0f70b1b2f6a4df8de344
- First published
- 2026-10-09
- Last updated
- 2026-10-09
Files and Weights
9 files, 147.7 MB in total. The weights are 3 files totalling 147.7 MB in safetensors.
Weights3 files · 147.7 MB
Configuration4 files · 9.3 KB
Documentation1 file · 1.7 KB
Repository1 file · 1.5 KB
Every file
| File | Type | Size | SHA-256 |
|---|---|---|---|
| model.safetensors | Weights | 147.7 MB | 98f42f677dcc |
| policy_postprocessor_step_0_unnormalizer_processor.safetensors | Weights | 7.5 KB | d56e648104da |
| policy_preprocessor_step_3_normalizer_processor.safetensors | Weights | 7.5 KB | d56e648104da |
| config.json | Configuration | 1.7 KB | — |
| policy_postprocessor.json | Configuration | 660 B | — |
| policy_preprocessor.json | Configuration | 1.3 KB | — |
| train_config.json | Configuration | 5.6 KB | — |
| README.md | Documentation | 1.7 KB | — |
| .gitattributes | Repository | 1.5 KB | — |
License and Download
- License
- apache-2.0
- Access
- Open weights, no gate
- Download size
- 147.7 MB
Download from Neel M
Released by Neel M through its official repository on Hugging Face. Read the license.
Built From
- Described by arXiv:2304.13705
- Trained on (disclosed) nhmacwan/pick_yellow
Memory Requirements
| Precision | Weights in memory |
|---|---|
| As published | 147.7 MB |
| 16-bit | 0.1 GB |
| 8-bit | 0.0 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_pick_yellow
How much GPU memory does act_pick_yellow need?
About 0.1 GB at 16-bit and 0 GB at 4-bit: the weights (37M parameters) plus a working margin. A long context needs more.
What is the cheapest GPU to run act_pick_yellow 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_pick_yellow commercially?
Yes. act_pick_yellow 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.
Similar Models
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. See the full documentation at LeRobot Docs. For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval: Writes checkpoints to outputs/train/ /checkpoints/. Prefix the dataset repo with eval\ and supply --policy.path pointing to a local or hub checkpoint.
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. See the full documentation at LeRobot Docs. For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval: Writes checkpoints to outputs/train/ /checkpoints/. Prefix the dataset repo with eval\ and supply --policy.path pointing to a local or hub checkpoint.
NAJY 11단계 ACT 체크포인트 (1호기 DGX1 학습). 분석·채점용 업로드 — 실기 배포 후보 확정과는 별개. 받은 뒤: sha256sum model.safetensors 가 위와 같은지. 채점 도구는 같은 폴더의 multimanifest.json 에서 플래그를 읽는다 (--checkpoint; pretrainedmodel 구조 그대로이므로 stageconddiag.py 등에 바로 쓴다). 배경: trossen-ai-simulation docs/mobilebaseinvestigation.md §94.
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NAJY 11단계 ACT 체크포인트 (1호기 DGX1 학습). 분석·채점용 업로드 — 실기 배포 후보 확정과는 별개. 받은 뒤: sha256sum model.safetensors 가 위와 같은지. 채점 도구는 같은 폴더의 multimanifest.json 에서 플래그를 읽는다 (--checkpoint; pretrainedmodel 구조 그대로이므로 stageconddiag.py 등에 바로 쓴다). 배경: trossen-ai-simulation docs/mobilebaseinvestigation.md §94.