How I Trained Action Chunking Transformer (ACT) on SO-101: My Journey, Gotchas, and Lessons
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A Blog post by Sherry Chen on Hugging Face
I’ve been wanting to try out the Action Chunking Transformer (ACT) on a real robot since I saw the model cooking a shrimp 🦐. A month ago, I finally got my hands on a SO-101. After watching many videos of people training this arm to pick and place a block, I thought, how hard would it be for me to do the same? Thus began a journey filled with pitfalls and obstacles at every turn! When I look back now, many of them look pretty damn straightforward.🤷🏻♀️ So I figured I should share these here - you all might find them helpful. Here we go - my journey, gotchas, and lessons learned from…
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