THE MECHANISM

ACT, diffusion, and flow matching

03ACT compresses behavior into chunks
→
04Diffusion iteratively denoises
→
05Flow matching learns a velocity field
FAILURE → REPAIR
Common trap

“The most expressive head is always best.”

Better model

A head that misses the control deadline is not usable. Quality, latency, chunk horizon, and hardware are a coupled choice.

YOUR NEXT GATE

Action-head bake-off

  1. 1Verify your installed LeRobot CLI with lerobot-train --help.
  2. 2Train ACT as the fastest path to a working baseline.
  3. 3Train diffusion on the same dataset as a quality reference.