This part of the codebase is modified from ACT https://github.com/tonyzhaozh/act under MIT License.

    @article{zhao2023learning,
    title={Learning fine-grained bimanual manipulation with low-cost hardware},
    author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
    journal={arXiv preprint arXiv:2304.13705},
    year={2023}
    }