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license: apache-2.0
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# 🖊️ ACT-SO100-Draw
Action Chunking Transformer (ACT) checkpoint for **drawing with a custom pen-holding attachment on the SO-100 and SO-101 robotic arms**.
*3-D-printed pen mount designed for SO-100 and SO-101 robotic arms.**
Tool STL is available for download in the [SO-100 Tools repository](https://github.com/krohling/so-100-tools).
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## Demo
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## Dataset
| Name | Episodes | Frames / episode | Modalities |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------- | ----------------------------------------- |
| [370-drawn-to-caffeine-draw-smiley](https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FLeRobot-worldwide-hackathon%2F370-drawn-to-caffeine-draw-smiley%2Fepisode_0) | 42 | \~450 | RGB 640×480, proprio 5-DoF, gripper state |
## Training Details
See run details on wandb for more information: [wandb run](https://wandb.ai/kevin_ai/lerobot_hackathon/runs/ahu8fcc0).
| Hyper-parameter | Value |
| ------------------- | ---------------------------------- |
| Chunk size | 100 |
| Dim Feedforward | 3200 |
| Dim Model | 512 |
| Dropout | 0.1 |
| Feedforward Activation | ReLU |
| Decoder layers | 1 |
| Encoder layers | 4 |
| Attention heads | 8 |
| VAE Encoder layers | 4 |
| Batch size | 32 |
| Optimizer | AdamW, lr = 1e-5 |
## Citation
If you use this checkpoint in your work, please cite the following:
```bibtex
@misc{Rohling2025ACTSO100Draw,
author = {Kevin Rohling},
title = {ACT Checkpoint for Pen-Drawing on SO-100},
year = {2025},
howpublished = {\url{https://huggingface.co/kevin510/ACT-SO100-Draw}}
}
``` |