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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.

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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.

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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}}
}