Picking up laundry with a 3D printed robot arm and LeRobot.
It operates using SO-ARM101 arm mounted on a mobile base, relying on just a wrist and base camera. The base is controlled with an Xbox controller by a human operator. The arm is fully autonomous thanks to the ACT model. The robot can generalize to previously unseen environments.
The technical stack:
- Model: Action Chunking Transformer (ACT) with Temporal Ensemble
- Data: Learned via teleoperation including negative examples and failure recoveries
- Framework: Built and trained locally using LeRobot on a single consumer GPU in 3.5h
This is a perfect example that real-world robotics isn't about perfect lab conditions - it's about messy living rooms, confusing shadows, and learning to recover from mistakes. And with open tools, anyone can tackle these edge cases right from their desk.