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Embodied · action_chunking_policy · robot_policy · imitation_policy · policy_rollout

Action Chunking Transformer

tonyzhaozh

The ACT policy, DETR-VAE, transformer, ResNet backbone, preprocessing, and action-chunk aggregation execute from the flattened in-tree package.

IntegratedDedicated environmentact

Build your run

Choose a recorded variant, then copy the exact setup or inspection command.

worldfoundry.pipeline
Taskaction_chunking_policy
Environmentworldfoundry-act
DeviceCu118 Or Newer
worldfoundry-eval evaluate \
  --mode model \
  --model-id act \
  --model-runner worldfoundry:pipeline \
  --model-manifest-dir worldfoundry/data/models/catalog \
  --requests-path tmp/requests.jsonl \
  --output-dir tmp/model_eval/act \
  --metric artifact_count \
  --json
01

Compatibility & versions

Manifest-backed recipe

Integration
integrated
Runner evidence
Not recorded
Environment
worldfoundry-act
Python
3.10
CUDA
Cu118 Or Newer
PyTorch
torch
Source revision
—
Checkpoint revision
—
Runtime profile
act
Pipeline binding
act
Runner
worldfoundry.pipeline
Pipeline target
worldfoundry.pipelines.component_pipelines:ACTPipeline
Backend stage
in_tree_runtime
Runtime status
in_tree_checkpoint_runtime_local_assets_required
Driver status
checkpoint_runtime_ready
Environment kind
Dedicated environment
02

Install environment

The environment resolver reads the recorded profile and chooses the unified or dedicated environment shown here.

bash scripts/setup/model_env_install.sh --model act
Package constraints 4
  • numpy
  • Pillow
  • torch
  • torchvision
Conda packages 2
  • python
  • pip
03

Checkpoints & assets

Run the local check before allocating compute. Gated, private, and license fields below come directly from the checkpoint manifest.

worldfoundry-eval zoo model-download --model-id act --check-local --json

No checkpoint repository is recorded in the catalog manifest.

04

Launch & outputs

The generated command uses the shared evaluation boundary and writes durable result manifests and artifacts.

worldfoundry-eval evaluate \
  --mode model \
  --model-id act \
  --model-runner worldfoundry:pipeline \
  --model-manifest-dir worldfoundry/data/models/catalog \
  --requests-path tmp/requests.jsonl \
  --output-dir tmp/model_eval/act \
  --metric artifact_count \
  --json

Input contract

FieldRecorded contract
actionsaction_chunk, proprio, action_space
imageRequired
instructionRequired
promptOptional
videoOptional

Artifact contract

Artifact kindFilename / path
action_traceact_action_trace.json
05

Evidence & sources

Catalog integration, native-demo parity, and runner parity are independent records.

Integration
integrated
Runner evidence
Not recorded
Native demo evidence
Not recorded
Validation imports
numpy, PIL, torch, torchvision
Recipe provenance
worldfoundry/data/models/catalog/vla_va_wam/act.yamlGitHubhttps://github.com/tonyzhaozh/act