Artificial Sandwich Intelligence - An Autonomous Robotic Arm
Fully self-trained end to end masked transformer robot policy that will make you a sandwich. For tens of thousands of Subways, Jimmy Johns, and other sandwich shops - this is the first step to automating it's production. Automated - Cheap - Fast - Precise - you'll never get a wrong order ever again.
Trained with TeleOp data and based on the ACT[1](Action Chunking with Transformers) paper with just 4 hours on a 4090, it's State of the Art for the amount of compute used. Implemented on LeRobot SO101s, for just $200 of hardware the results punches far above it's weight class. It also significantly outperforms a human benchmark.
Please see attached video for demo & comparison to human benchmark.
References: [1] Zhao, T. Z., Kumar, V., Levine, S., & Finn, C. (2023, April 23). Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware. arXiv.org. https://arxiv.org/abs/2304.13705
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