aakashv100/act_so101_pick_cube_v2

ACT — SO-101 pick cube v2

ACT (Action Chunking Transformer) policy for the SO-101 follower arm. Task: "Pick up the cube and place it in the bowl".

Training

• Dataset: aakashv100/so101-pick-cube-v2 — 50 teleoperated episodes, 30 fps
• Cameras: gripper_cam (wrist, 640x480) + top_cam (overhead wide-angle USB, 640x480)
• State/action: 6-DoF joint positions (degrees) + gripper
• Steps: 60k, chunk_size = n_action_steps = 100
• Checkpoint: 060000

Usage (lerobot)

lerobot-record \
  --robot.type=so101_follower \
  --policy.path=aakashv100/act_so101_pick_cube_v2 \
  --dataset.single_task="Pick up the cube and place it in the bowl" \
  ...

Evaluation

Evaluated with a 50-trial fixed-position + 50-trial random-position protocol (same checkpoint, cube start positions within a 10x10 cm zone). Note: all training episodes start the cube at a single fixed position, so random-position performance measures out-of-distribution generalization.