🖊️ ACT-SO100-Draw

Action Chunking Transformer (ACT) checkpoint for drawing with a custom pen-holding attachment on the SO-100 and SO-101 robotic arms.

3-D-printed pen mount designed for SO-100 and SO-101 robotic arms.*

Tool STL is available for download in the SO-100 Tools repository.

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Demo

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Dataset

Name	Episodes	Frames / episode	Modalities
370-drawn-to-caffeine-draw-smiley	42	~450	RGB 640×480, 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{Rohling2025ACTSO100Draw,
  author       = {Kevin Rohling},
  title        = {ACT Checkpoint for Pen-Drawing on SO-100},
  year         = {2025},
  howpublished = {\url{https://huggingface.co/kevin510/ACT-SO100-Draw}}
}