| | --- |
| | license: apache-2.0 |
| | tags: |
| | - robotics |
| | - lerobot |
| | - act |
| | - imitation-learning |
| | - so101 |
| | - manipulation |
| | --- |
| | |
| | # ACT Policy for Pick and Place Cube Task |
| |
|
| | This model was trained using [LeRobot](https://github.com/huggingface/lerobot) to perform a pick-and-place task with an SO-101 robot arm. |
| |
|
| | ## Task Description |
| |
|
| | **Task:** Pick up a cube and place it in a container |
| |
|
| | The robot learns to: |
| | 1. Locate the cube visually |
| | 2. Move the gripper to the cube |
| | 3. Grasp the cube |
| | 4. Transport it to the target container |
| | 5. Release the cube into the container |
| |
|
| | ## Model Details |
| |
|
| | - **Policy Type:** ACT (Action Chunking with Transformers) |
| | - **Robot:** SO-101 Follower Arm (6-DOF with gripper) |
| | - **Camera:** Single front-facing RGB camera (640x480 @ 30fps) |
| | - **Training Steps:** 100,000 |
| | - **Training Episodes:** 51 demonstrations |
| | - **Framework:** LeRobot |
| |
|
| | ## Training Configuration |
| |
|
| | ```yaml |
| | policy: |
| | type: act |
| | chunk_size: 100 |
| | n_action_steps: 100 |
| | dim_model: 512 |
| | n_heads: 8 |
| | n_encoder_layers: 4 |
| | n_decoder_layers: 1 |
| | vision_backbone: resnet18 |
| | use_vae: true |
| | ``` |
| |
|
| | ## Usage |
| |
|
| | ### Evaluation on Robot |
| |
|
| | ```bash |
| | lerobot-record \ |
| | --robot.type=so101_follower \ |
| | --robot.port=/dev/ttyACM0 \ |
| | --robot.cameras='{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30} }' \ |
| | --dataset.repo_id=YOUR_USERNAME/eval_pick_place_cube \ |
| | --dataset.single_task="Pick up the cube and place it in the container" \ |
| | --policy.path=shraavb/act_pick_place_cube |
| | ``` |
| |
|
| | ## Training Dataset |
| |
|
| | - **Dataset:** [shraavb/pick_place_cube](https://huggingface.co/datasets/shraavb/pick_place_cube) |
| | - **Episodes:** 51 |
| | - **Frames:** ~45,000 |
| |
|
| | ## Hardware Requirements |
| |
|
| | - SO-101 robot arm with Feetech STS3215 servos |
| | - USB camera (webcam or similar) |
| | - Computer with USB ports for robot and camera |
| |
|
| | ## Acknowledgments |
| |
|
| | Trained following the [Seeed Studio LeRobot tutorial](https://wiki.seeedstudio.com/lerobot_so100m/). |
| |
|
