---
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/).