SO-101 snack pick-and-place with ACT

An ACT study connecting 90 dual-camera leader–follower demonstrations, network architecture, training logs and two autonomous physical pick-and-place trials.

Report date

15 October 2026

Experiment date

12–13 October 2026

Original authors

Yanshi Robotics

Report language

English · 64 pages

Main observations

Training completed 100,000 updates. Both trials ultimately placed and released the bag; first-cycle completion was 1/2, with three grasp cycles in the second trial.

Scope and limitations

All 90 demonstrations were used for training, without an independent validation split; intermediate loss history is unavailable. Two physical trials do not estimate generalization or long-term reliability.