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README.md

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+---
+license: apache-2.0
+base_model: lerobot/act
+tags:
+  - lerobot
+  - act
+  - robotics
+  - manipulation
+  - real-robot
+  - so101
+  - visuomotor
+datasets:
+  - ShubhamK32/so101_declutter_v1
+pipeline_tag: robotics
+---
+
+# ACT — SO-101 Space Decluttering
+
+ACT (Action Chunking Transformer) policy trained on the [SO-101 Space Decluttering Dataset v1](https://huggingface.co/datasets/ShubhamK32/so101_declutter_v1) for pick-and-place decluttering tasks on a 6-DoF SO-101 robotic arm. Trained using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Training Details
+
+- **Policy:** ACT (Action Chunking Transformer)
+- **Steps:** 100,000
+- **Robot:** SO-101 6-DoF leader-follower
+- **Cameras:** Dual-view — fixed top-view + wrist-mounted egocentric
+- **Framework:** LeRobot
+
+## Dataset
+
+Trained on [ShubhamK32/so101_declutter_v1](https://huggingface.co/datasets/ShubhamK32/so101_declutter_v1) — a multi-view teleoperation dataset with spatial distractors injected to prevent visual shortcut learning.
+
+## Usage
+```python
+from lerobot.policies.act.modeling_act import ACTPolicy
+
+policy = ACTPolicy.from_pretrained("ShubhamK32/act_so101_declutter")
+```
+
+## Camera Views
+
+- `observation.images.topview` — Fixed overhead. Better for unoccluded pick-place tasks.
+- `observation.images.wristview` — Egocentric wrist-mounted. Better for overlapping and cluttered scenes.
+
+## Related
+
+- Dataset: [ShubhamK32/so101_declutter_v1](https://huggingface.co/datasets/ShubhamK32/so101_declutter_v1)
+- SmolVLA checkpoint: [ShubhamK32/smolvla_so101_declutter](https://huggingface.co/ShubhamK32/smolvla_so101_declutter)