A bimanual ACT policy runs at 10 Hz on an 8 GB Jetson Orin Nano Super with roughly 90-95% task success, and the paper documents when quantization is necessary and which layers TensorRT refuses to quantize.
GELLO: A general, low-cost, and intuitive teleoperation framework for robot manipulators,
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Bimanual Manipulation Within an 8 GB Budget: Zero-Copy Sensing and Quantized ACT on an Entry-Level Jetson
A bimanual ACT policy runs at 10 Hz on an 8 GB Jetson Orin Nano Super with roughly 90-95% task success, and the paper documents when quantization is necessary and which layers TensorRT refuses to quantize.