Inspiration
Kanye needs to chill out, and we're gonna help him
What it does
This is an SO100 arm from lerobot. we used a leader and follower arm to create training episodes (about 150 of them) and trained an ACT model 100k steps. We experimented with speeding up the inference of the model and artificially smoothing jittery teleportation data.
Challenges we ran into
Incorrectly callibrationg the motors made them jitter more, at high torque positions the teeth of our F2 motor would slip, and we ended up burning a few motors too!
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