Train an ACT Policy for the SO-101 Robot with LeRobot

Learn to train an Action Chunking with Transformers (ACT) policy for the SO-101 robot using the LeRobot library in this comprehensive tutorial. Begin by setting up the development environment through cloning and installing LeRobot libraries, then progress through connecting and configuring robots, calibrating motors and arms, and establishing teleoperation capabilities. Master PID controller calibration techniques before diving into data recording and management processes. Explore the ACT model training workflow, including advanced style settings and KL weight configuration, with detailed guidance for running training on both Mac/CPU and GPU environments. Navigate through validation setup, output directory configuration, and troubleshooting common issues encountered during CUDA-based training. Monitor training progress effectively while learning to calculate training steps and epochs, analyze training and validation loss patterns, and evaluate model performance through replay and evaluation of training examples. Address challenges related to generalization and data requirements, implement image augmentations and jitter techniques, determine optimal rollout steps, and apply ensembling predictions for smoother robot trajectories, concluding with practical next steps for continued development.