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alannur/
bimanual-battery-picker-act

Name: bimanual-battery-picker-act
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Battery Sorting Robot — ACT Policy

Trained ACT (Action Chunking with Transformers) policy for bimanual battery sorting with SO100 robot arms.

The robot picks a target battery from a pile of objects and places it into a basket, achieving 86% average success rate across 200 evaluation trials.

GitHub: alanyukeroo/bimanual-battery-picker
Course: TECHIN 517 — University of Washington, Spring 2026
Team: Alan Nur · Fan Zhang · Wei Chang

The Task

Step	Description
1. Pull Basket	Left arm grabs the basket and pulls it closer
2. Pick Battery	Right arm grasps the target battery from a pile
3. Place & Reset	Right arm places battery into basket, arms return home

Evaluation Results

200 trials across 4 test conditions:

Condition	Success Rate
Single Battery (clean workspace)	90%
Distractors — In Dataset	90%
Distractors — Out of Dataset	80%
Similar Batteries	84%
Overall	86%

Training Details

Parameter	Value
Policy	ACT (Action Chunking with Transformers)
Backbone	ResNet18
Framework	LeRobot
Demonstrations	351 episodes
Training steps	100,000
Training time	~3 hours on RTX 5090
Action chunk size	100
Cameras	Overhead RealSense + Left/Right wrist RGB
Image resolution	640×480

Usage

bash

# Download the model
hf download alannur/bimanual-battery-picker-act \
  --local-dir outputs/train/act-bimanual-battery-v4/checkpoints/last/pretrained_model

# Run on real robot (see GitHub repo for full setup)
bash scripts/eval.sh

See the GitHub repo for full setup and usage instructions.

Hardware

2× SO100 follower arms (bimanual)
2× USB webcams (wrist cameras)
1× Intel RealSense D435 (overhead)