---
license: apache-2.0
tags:
- lerobot
- act
- so101
- bimanual
- robotics
- mi300x
---

# SO101 Sock Ball Handover ACT Dualcam 60eps

ACT policy trained on `fbsh96/so101-sock-ball-handover-v1`.

- Robot: `bi_so101_follower`
- Dataset: 60 good episodes, 84,717 frames, 30 FPS
- Inputs: `observation.state` `[12]`, `observation.images.front_cam` `[3, 480, 640]`, `observation.images.hand_cam` `[3, 480, 640]`
- Output: `action` `[12]`
- Training: MI300X, batch size 16, 20,000 steps
- Final logged loss: 0.065
- Checkpoint source: `checkpoints/020000/pretrained_model`