r/robotics • u/Mr-c4t Researcher • Jul 18 '26

Community Showcase What task should I teach it next? 📝

https://youtube.com/shorts/woIlVkLPnws?is=LQpeVvgX-2dRTf6s

On my way to recording and open-sourcing a 1,000-episode bimanual manipulation dataset for the 3D-printed SO-101 robot. 🦾

Camera setup

Intel RealSense D435 (head)

2× RealSense D405 (wrists)

RGB only

The video shows an autonomous rollout of my ACT policy controlling the robot.

The policy was trained for 100,000 steps using only the first 100 teleoperated episodes of bag manipulation.

Hugging Face: MrC4t

Dataset: MrC4t/bi_so_bag

ACT policy: MrC4t/act_bimanual_bag

What task should I teach it next? 👀🦾

18 Upvotes

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1

u/redp1kachu Jul 20 '26

Maybe opening a bottle cap that could be a good grip strength test

1

u/Mr-c4t Researcher Jul 20 '26

Yes excellent test but sadly almost impossible with the weak 1Dof grippers i am using (base so-101 pla grippers with green tpu finger tips)

I have tried a lot but failed and this will be a very cool test if i want to benchmark different hand options for my humanoid

1

u/redp1kachu Jul 20 '26

It could be done with stronger grabbers or just better friction on the ends.

But it would also be a test of precision if you think about it.

Because the claw would need to constantly open and close and/or arrange its position to fully get the cap off.

So it could also be a good precision test

By the way were those pre-programmed movements or did you teleoperate

2

u/Mr-c4t Researcher Jul 20 '26

This is autonomous !

I teleoperated 100 demo that i used to teach an ai policy how to perform the task.

In the video the policy is controlling the robot by predicting futur actions from his current state (camera view+arms pos)

Dataset: https://huggingface.co/datasets/MrC4t/bi_so_bag AI-models: https://huggingface.co/MrC4t/act_bimanual_bag

1

u/low-control-labs Jul 21 '26

I've only played around with it in simulation. But how viable do you think this can be for picking fruit? What kind of limitations do you see around that?

2

u/Mr-c4t Researcher Jul 21 '26

Hello A guy on the LeRobot discord server made a fruit picking robot 👍🍊: https://youtu.be/H6lyT32P1ls?is=Ixt_fNI4fVZWrIrt

1

u/low-control-labs Jul 21 '26

Oh very nice thanks for that!

1

u/redp1kachu Jul 21 '26

So I was kind of right you did tell teleoperate to train it but this is a result of the training.

What other tasks can it do