Hugging Face's logo

ShubhamK32
/
act_so101_declutter

Robotics
LeRobot
Safetensors
act
manipulation
real-robot
so101
visuomotor
Model card Files
xet
 Community
act_so101_declutter / README.md
ShubhamK32's picture
ShubhamK32
Upload README.md with huggingface_hub
4656358 verified
preview code
|
raw
history blame contribute delete
1.61 kB
metadata 
license: apache-2.0
base_model: lerobot/act
tags:
  - lerobot
  - act
  - robotics
  - manipulation
  - real-robot
  - so101
  - visuomotor
datasets:
  - ShubhamK32/so101_declutter_v1
pipeline_tag: robotics

ACT — SO-101 Space Decluttering

ACT (Action Chunking Transformer) policy trained on the SO-101 Space Decluttering Dataset v1 for pick-and-place decluttering tasks on a 6-DoF SO-101 robotic arm. Trained using LeRobot.

Training Details

  • Policy: ACT (Action Chunking Transformer)
  • Steps: 100,000
  • Robot: SO-101 6-DoF leader-follower
  • Cameras: Dual-view — fixed top-view + wrist-mounted egocentric
  • Framework: LeRobot

Dataset

Trained on ShubhamK32/so101_declutter_v1 — a multi-view teleoperation dataset with spatial distractors injected to prevent visual shortcut learning.

Usage 

from lerobot.policies.act.modeling_act import ACTPolicy

policy = ACTPolicy.from_pretrained("ShubhamK32/act_so101_declutter")

Camera Views

  • observation.images.topview — Fixed overhead. Better for unoccluded pick-place tasks.
  • observation.images.wristview — Egocentric wrist-mounted. Better for overlapping and cluttered scenes.

Related