add LeRobot ACT notebook

[mhpanah]

This PR adds a new tutorial notebook act_to_openvino.ipynb that demonstrates converting a Unitree Action Chunking Transformer (ACT) policy (from the LeRobot format) into OpenVINO IR (FP32), INT8.

Conversion Flow

• Verify dependencies (torch, openvino, nncf, etc.).
• Confirm presence of LeRobot
• Load and reconstruct model (feature wrapping + config filtering).
• Build ordered dummy inputs matching model signature.
• Confirm IR artifacts exist and report sizes.
• Direct PyTorch to OpenVINO IR (No ONNX)
• INT8 Quantization
• Evaluation & Comparison Plotting

Core Dependencies:

• openvino>=2025.0.0
• torch>=2.1, torchvision, accelerate
• nncf>=2.14.0 (future quantization integration)
• safetensors, onnx, onnxruntime
• Utility: numpy, pandas, matplotlib, tqdm, h5py, rich

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[sbalandi]

Line #38.    def pip_install(*packages):

we have such function in utils, please, check example in Prerequisites here https://github.com/openvinotoolkit/openvino_notebooks/blob/latest/notebooks/llm-native-agent-react/llm-native-agent-react.ipynb and use it

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[sbalandi]

Where model.safetensors are originally placed ? On which step and from where should we download it ?

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[mhpanah]

We need to create a download link for our model or user can use their own model.

[sbalandi]

Could you, please, share some models so I can run it on my machine ?

[sbalandi]

Is it possible to load the model directly into act_checkpoint ?

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[openvino-dev-samples]

Hi @mhpanah

I can not install the dependencies on my ubuntu system properly.
Have you verified everything from scratch on your side.

[mhpanah]

Hi @mhpanah

I can not install the dependencies on my ubuntu system properly. Have you verified everything from scratch on your side.

Please run this in your terminal before running the notebook:

bash setup_unitree_lerobot_env.sh
conda create -n unitree_lerobot python=3.10 -y
conda activate unitree_lerobot
# Launch notebook with correct kernel
jupyter lab act_to_openvino.ipynb --NotebookApp.kernel_name=unitree_lerobot

This is in the Minimal Installation & Launch section of the readme.

[openvino-dev-samples]

Hi @mhpanah
I can not install the dependencies on my ubuntu system properly. Have you verified everything from scratch on your side.

Please run this in your terminal before running the notebook:

bash setup_unitree_lerobot_env.sh
conda create -n unitree_lerobot python=3.10 -y
conda activate unitree_lerobot
# Launch notebook with correct kernel
jupyter lab act_to_openvino.ipynb --NotebookApp.kernel_name=unitree_lerobot

This is in the Minimal Installation & Launch section of the readme.

Thanks for clarification. However we can not limit using Conda only, and any specific dependencies of a notebook should be included in the .ipynb file instead of a separate script, which means you cannot expect users to install them through a terminal. Another approach maybe you can refer is that there is supplementary_materials folder to keep some special examples, which is more flexible for contributors. @sbalandi @aleksandr-mokrov whats your opinion ?