Hugging Peers

ACT

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by Qualcomm-AI-Hub robotics mit
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Model card

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:

  • Input resolution: 480x640
  • Model checkpoint: act
  • Model size (float): 255M
  • Number of parameters: 83.92M

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 12.835 ms 64 - 64 MB NPU
ACT ONNX float Snapdragon® 8 Gen 3 Mobile 8.548 ms 1 - 509 MB NPU
ACT ONNX float Snapdragon® 8 Gen 1 Mobile 19.447 ms 4 - 320 MB NPU
ACT ONNX float Qualcomm® Dragonwing™ IQ-8275 17.386 ms 3 - 10 MB NPU
ACT ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 12.304 ms 0 - 388 MB NPU
ACT ONNX float Qualcomm® QCS8450 19.447 ms 4 - 320 MB NPU
ACT ONNX float Qualcomm® Dragonwing™ IQ-9075 17.636 ms 3 - 10 MB NPU
ACT ONNX float Qualcomm® Dragonwing™ IQ-X7181 12.835 ms 64 - 64 MB NPU
ACT ONNX float Qualcomm® Dragonwing™ Q-8750 6.816 ms 2 - 418 MB NPU
ACT ONNX float Snapdragon® 8 Elite Mobile 6.816 ms 2 - 418 MB NPU
ACT ONNX float Snapdragon® 8 Elite Gen 5 Mobile 5.944 ms 3 - 449 MB NPU
ACT QNN_DLC float Snapdragon® X2 Elite 5.312 ms 4 - 4 MB NPU
ACT QNN_DLC float Snapdragon® X Elite 10.936 ms 4 - 4 MB NPU
ACT QNN_DLC float Snapdragon® 8 Gen 3 Mobile 6.945 ms 0 - 335 MB NPU
ACT QNN_DLC float Snapdragon® 8 Gen 1 Mobile 20.842 ms 2 - 261 MB NPU
ACT QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 14.442 ms 4 - 9 MB NPU
ACT QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 10.294 ms 4 - 6 MB NPU
ACT QNN_DLC float Qualcomm® SA8775P 14.499 ms 1 - 271 MB NPU
ACT QNN_DLC float Qualcomm® SA8650P 14.499 ms 1 - 271 MB NPU
ACT QNN_DLC float Qualcomm® SA8255P 14.499 ms 1 - 271 MB NPU
ACT QNN_DLC float Qualcomm® QCS8450 20.842 ms 2 - 261 MB NPU
ACT QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 14.526 ms 4 - 9 MB NPU
ACT QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 10.936 ms 4 - 4 MB NPU
ACT QNN_DLC float Qualcomm® Dragonwing™ Q-8750 5.44 ms 0 - 293 MB NPU
ACT QNN_DLC float Qualcomm® SA7255P 44.85 ms 2 - 295 MB NPU
ACT QNN_DLC float Qualcomm® SA8295P 16.562 ms 0 - 210 MB NPU
ACT QNN_DLC float Snapdragon® 8 Elite Mobile 5.44 ms 0 - 293 MB NPU
ACT QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 4.376 ms 4 - 314 MB NPU
ACT TFLITE float Snapdragon® 8 Gen 3 Mobile 6.109 ms 0 - 413 MB NPU
ACT TFLITE float Snapdragon® 8 Gen 1 Mobile 16.381 ms 0 - 272 MB NPU
ACT TFLITE float Qualcomm® Dragonwing™ IQ-8275 14.432 ms 0 - 72 MB NPU
ACT TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 8.509 ms 0 - 3 MB NPU
ACT TFLITE float Qualcomm® SA8775P 13.799 ms 0 - 279 MB NPU
ACT TFLITE float Qualcomm® SA8650P 13.799 ms 0 - 279 MB NPU
ACT TFLITE float Qualcomm® SA8255P 13.799 ms 0 - 279 MB NPU
ACT TFLITE float Qualcomm® QCS8450 16.381 ms 0 - 272 MB NPU
ACT TFLITE float Qualcomm® Dragonwing™ IQ-9075 13.963 ms 0 - 71 MB NPU
ACT TFLITE float Qualcomm® Dragonwing™ Q-8750 4.738 ms 0 - 282 MB NPU
ACT TFLITE float Qualcomm® SA7255P 44.756 ms 0 - 327 MB NPU
ACT TFLITE float Qualcomm® SA8295P 15.716 ms 0 - 207 MB NPU
ACT TFLITE float Snapdragon® 8 Elite Mobile 4.738 ms 0 - 282 MB NPU
ACT TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 3.794 ms 0 - 324 MB NPU

License

  • The license for the original implementation of ACT can be found here.

References

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