SO-101 Lab01 Pick-and-Place — ACT
ACT policy fine-tuned on expert demonstrations collected and validated with SO-101 SimStudio (MuJoCo sim2sim, leader-arm teleop).
Training data: alexhegit/so101-simstudio-lab01-pnp
Documentation
| Resource | Link |
|---|---|
| SimStudio repo | rocPAI-Forge/so101-simstudio |
| Lab 01 walkthrough (record → train → eval) | labs/lab01_pnp/lab01_pnp.md |
For dataset layout, training commands, eval configs, and reference metrics, see Lab 01 in the repo above.
Quick load
from lerobot.policies.act.modeling_act import ACTPolicy
policy = ACTPolicy.from_pretrained("alexhegit/so101-simstudio-lab01-pnp-act")
Sim2sim eval in MuJoCo: follow §6 Policy eval in lab01_pnp.md (ACT configs under labs/lab01_pnp/configs/rollout_act*.yaml).
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