Model Card for act_so100_pickandplace_block_circle

Action Chunking Transformer Policy trained for the pick and place blue blocks into the circle with SO-ARM100.

How to Get Started with the Model

See the Lerobot library

We strong recommend the environment needs to be the same as the video. I use the camera of Macbook Air M2, Also The model was inference by Macbook Air M2 16GB.

Training Details

Trained with LeRobot@42bf1e8.

The model was trained using LeRobot's training script and with the masato-ka/so100_grasp_lego dataset, using this command:

python lerobot/scripts/train.py \
  --dataset.repo_id='masato-ka/so100_lego_sort' \
  --policy.type=act \
  --output_dir=outputs/train/act_so100_lego_sort \
  --job_name=act_so100_lego_sort \
  --policy.device=cuda \
  --wandb.enable=true

Actually, this model was stopped traning at 60k steps.

The training curves may be found at https://wandb.ai/masato-ka-personal/lerobot/runs/u67z9fk8. The current model corresponds to the checkpoint at 60k steps.

This took about 2h to train on an Nvida L4.