https://blog.henrikhao.com/series/robot-learning/ Recent content in Robot Learning on Notes Hugo en-AU Tue, 13 Oct 2026 12:00:00 +1100 https://blog.henrikhao.com/posts/action-chunking-with-transformers/ Tue, 13 Oct 2026 12:00:00 +1100 https://blog.henrikhao.com/posts/action-chunking-with-transformers/ How ACT works: action chunks, the CVAE style variable, training and inference, what queries, keys and values are, what self-attention and cross-attention do, and temporal ensembling.