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act_pick_place_cube – AI Model by shraavb | AlphaNeural AI

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shraavb/
act_pick_place_cube

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ACT Policy for Pick and Place Cube Task

This model was trained using 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:

Locate the cube visually
Move the gripper to the cube
Grasp the cube
Transport it to the target container
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
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.