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license: apache-2.0 |
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# 🖊️ ACT-SO100-Draw |
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Action Chunking Transformer (ACT) checkpoint for **drawing with a custom pen-holding attachment on the SO-100 and SO-101 robotic arms**. |
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*3-D-printed pen mount designed for SO-100 and SO-101 robotic arms.** |
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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 |
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| Name | Episodes | Frames / episode | Modalities | |
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| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------- | ----------------------------------------- | |
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| [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 | |
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## Training Details |
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See run details on wandb for more information: [wandb run](https://wandb.ai/kevin_ai/lerobot_hackathon/runs/ahu8fcc0). |
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| Hyper-parameter | Value | |
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| ------------------- | ---------------------------------- | |
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| Chunk size | 100 | |
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| Dim Feedforward | 3200 | |
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| Dim Model | 512 | |
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| Dropout | 0.1 | |
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| Feedforward Activation | ReLU | |
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| Decoder layers | 1 | |
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| Encoder layers | 4 | |
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| Attention heads | 8 | |
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| VAE Encoder layers | 4 | |
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| Batch size | 32 | |
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| Optimizer | AdamW, lr = 1e-5 | |
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## Citation |
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If you use this checkpoint in your work, please cite the following: |
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```bibtex |
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@misc{Rohling2025ACTSO100Draw, |
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author = {Kevin Rohling}, |
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title = {ACT Checkpoint for Pen-Drawing on SO-100}, |
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year = {2025}, |
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howpublished = {\url{https://huggingface.co/kevin510/ACT-SO100-Draw}} |
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} |
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``` |
