Downloads · 30 days
9
13% of all-time downloads
ACT-SO100-Scoop
kevin510/ACT-SO100-Scoop
ACT-SO100-Scoop is a machine learning model from kevin510. Use it for the machine learning task on the model card, and read the license before you ship it in a product. The card lists the license as apache-2.0.
All-time downloads
71
Public
Parameters
51.7M
525 MB on disk
Likes
0
Public
Repo makeup
Click a slice to open those files.
.safetensors207 MB · 90%
At a glance
- License
- apache-2.0
- Access
- Public
- Created
- Jun 18, 2025
- Updated
- Jun 18, 2025
- SHA
- 2b6f9473
Model card
From the Hugging Face model README
license: apache-2.0
☕️ ACT-SO100-Scoop
Action Chunking Transformer checkpoint that scoops coffee beans with a custom 3-D-printed scoop end-effector.
3-D-printed scoop designed for SO-100 and SO-101 robotic arms.
Tool STL is available for download in the SO-100 Tools repository.
Demo
Note: The model had trouble completing the final step of the task, pouring the coffee beans into the cup. This is likely due to some interference issues in the training data and limited size of the dataset.
Dataset
| Name | Episodes | Frames / episode | Modalities |
|---|---|---|---|
| 370-drawn-to-caffeine-coffee-scooper | 42 | ~450 | RGB 1080x1920, proprio 5-DoF, gripper state |
Training Details
See run details on wandb for more information: wandb run.
| Hyper-parameter | Value |
|---|---|
| Chunk size | 100 |
| Dim Feedforward | 3200 |
| Dim Model | 512 |
| Dropout | 0.1 |
| Feedforward Activation | ReLU |
| Decoder layers | 1 |
| Encoder layers | 4 |
| Attention heads | 8 |
| VAE Encoder layers | 4 |
| Batch size | 32 |
| Optimizer | AdamW, lr = 1e-5 |
Citation
If you use this checkpoint in your work, please cite the following:
@misc{Rohling2025ACTSO100Scoop,
author = {Kevin Rohling},
title = {ACT Checkpoint for Coffee Scooping on SO-100},
year = {2025},
howpublished = {\url{https://huggingface.co/kevin510/ACT-SO100-Scoop}}
}
- License
- apache-2.0
- Created
- Jun 18, 2025
- Updated
- Jun 18, 2025