Chunk-level PPO post-training of pretrained ACT policies with hybrid KL/behavior-prior constraints lifts contact success to near 100% and cuts >60 N force events ~46× in simulation.
Measurement errors in visual servoing,
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PAC-ACT: Post-training Actor-Critic for Action Chunking Transformers
Chunk-level PPO post-training of pretrained ACT policies with hybrid KL/behavior-prior constraints lifts contact success to near 100% and cuts >60 N force events ~46× in simulation.