Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
Paper • 2304.13705 • Published • 7
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 2.45, ONNX Runtime 1.27.1 | Download |
| QNN_DLC | float | Universal | QAIRT 2.45 | Download |
| TFLITE | float | Universal | QAIRT 2.45 | 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 | 6.763 ms | 4 - 4 MB | NPU |
| ACT | ONNX | float | Snapdragon® X Elite | 12.843 ms | 64 - 64 MB | NPU |
| ACT | ONNX | float | Snapdragon® 8 Gen 3 Mobile | 8.618 ms | 4 - 514 MB | NPU |
| ACT | ONNX | float | Snapdragon® 8 Gen 1 Mobile | 19.378 ms | 1 - 317 MB | NPU |
| ACT | ONNX | float | Qualcomm® Dragonwing™ QCS8550 (Proxy) | 12.237 ms | 0 - 80 MB | NPU |
| ACT | ONNX | float | Qualcomm® QCS8450 | 19.378 ms | 1 - 317 MB | NPU |
| ACT | ONNX | float | Qualcomm® Dragonwing™ IQ-9075 | 17.478 ms | 4 - 10 MB | NPU |
| ACT | ONNX | float | Qualcomm® Dragonwing™ IQ-X7181 | 12.843 ms | 64 - 64 MB | NPU |
| ACT | ONNX | float | Qualcomm® Dragonwing™ Q-8750 | 6.868 ms | 0 - 412 MB | NPU |
| ACT | ONNX | float | Snapdragon® 8 Elite Mobile | 6.868 ms | 0 - 412 MB | NPU |
| ACT | ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 5.965 ms | 1 - 446 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® X2 Elite | 4.807 ms | 4 - 4 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® X Elite | 9.208 ms | 4 - 4 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® 8 Gen 3 Mobile | 6.079 ms | 2 - 338 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® 8 Gen 1 Mobile | 16.458 ms | 4 - 254 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® Dragonwing™ QCS8275 | 44.715 ms | 1 - 286 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® Dragonwing™ QCS8550 (Proxy) | 8.516 ms | 4 - 5 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA8775P | 13.808 ms | 1 - 269 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA8650P | 13.808 ms | 1 - 269 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA8255P | 13.808 ms | 1 - 269 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® QCS8450 | 16.458 ms | 4 - 254 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® Dragonwing™ IQ-9075 | 14.855 ms | 4 - 9 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® Dragonwing™ IQ-X7181 | 9.208 ms | 4 - 4 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® Dragonwing™ Q-8750 | 4.695 ms | 0 - 272 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA7255P | 44.715 ms | 1 - 286 MB | NPU |
| ACT | QNN_DLC | float | Qualcomm® SA8295P | 15.253 ms | 0 - 205 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® 8 Elite Mobile | 4.695 ms | 0 - 272 MB | NPU |
| ACT | QNN_DLC | float | Snapdragon® 8 Elite Gen 5 Mobile | 3.778 ms | 4 - 299 MB | NPU |
| ACT | TFLITE | float | Snapdragon® 8 Gen 3 Mobile | 6.113 ms | 0 - 418 MB | NPU |
| ACT | TFLITE | float | Snapdragon® 8 Gen 1 Mobile | 16.378 ms | 0 - 271 MB | NPU |
| ACT | TFLITE | float | Qualcomm® Dragonwing™ QCS8275 | 44.742 ms | 0 - 325 MB | NPU |
| ACT | TFLITE | float | Qualcomm® Dragonwing™ QCS8550 (Proxy) | 8.496 ms | 0 - 3 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA8775P | 13.821 ms | 0 - 280 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA8650P | 13.821 ms | 0 - 280 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA8255P | 13.821 ms | 0 - 280 MB | NPU |
| ACT | TFLITE | float | Qualcomm® QCS8450 | 16.378 ms | 0 - 271 MB | NPU |
| ACT | TFLITE | float | Qualcomm® Dragonwing™ IQ-9075 | 14.061 ms | 0 - 71 MB | NPU |
| ACT | TFLITE | float | Qualcomm® Dragonwing™ Q-8750 | 4.74 ms | 0 - 284 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA7255P | 44.742 ms | 0 - 325 MB | NPU |
| ACT | TFLITE | float | Qualcomm® SA8295P | 15.757 ms | 0 - 207 MB | NPU |
| ACT | TFLITE | float | Snapdragon® 8 Elite Mobile | 4.74 ms | 0 - 284 MB | NPU |
| ACT | TFLITE | float | Snapdragon® 8 Elite Gen 5 Mobile | 3.747 ms | 0 - 325 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.