| --- |
| library_name: lerobot |
| license: apache-2.0 |
| pipeline_tag: robotics |
| tags: |
| - robotics |
| - lerobot |
| - act |
| - so101 |
| datasets: |
| - aakashv100/so101-pick-cube-v2 |
| --- |
| |
| # ACT — SO-101 pick cube v2 |
|
|
| ACT (Action Chunking Transformer) policy for the SO-101 follower arm. |
| Task: **"Pick up the cube and place it in the bowl"**. |
|
|
| ## Training |
|
|
| - Dataset: [aakashv100/so101-pick-cube-v2](https://huggingface.co/datasets/aakashv100/so101-pick-cube-v2) — 50 teleoperated episodes, 30 fps |
| - Cameras: `gripper_cam` (wrist, 640x480) + `top_cam` (overhead wide-angle USB, 640x480) |
| - State/action: 6-DoF joint positions (degrees) + gripper |
| - Steps: 60k, chunk_size = n_action_steps = 100 |
| - Checkpoint: 060000 |
| |
| ## Usage (lerobot) |
| |
| ```bash |
| lerobot-record \ |
| --robot.type=so101_follower \ |
| --policy.path=aakashv100/act_so101_pick_cube_v2 \ |
| --dataset.single_task="Pick up the cube and place it in the bowl" \ |
| ... |
| ``` |
| |
| ## Evaluation |
| |
| Evaluated with a 50-trial fixed-position + 50-trial random-position protocol |
| (same checkpoint, cube start positions within a 10x10 cm zone). Note: all |
| training episodes start the cube at a single fixed position, so random-position |
| performance measures out-of-distribution generalization. |
| |
