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by charleszyong 367 days ago
Yes. You are exactly right. If you want the model to have some adaptability, you will need to train a policy like ACT or GR00T.

Just a quick difference I need to point out as it's critical product spec: leader arms are using 7.4v version of ST3215 (various gear ratios) while follower arms are using 12v version of ST3215. (12v version have higher peak torque at close to 3 Nm)
2 comments
fragmede 367 days ago
> various gear ratios

for anyone following along at home: THIS IS NOT A SMALL DETAIL!

there are 12 servos total and 4 different types of 7.4 volt ones in the box. make sure you use the right one, or else you'll waste precious time to reassemble the arm.

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dimitry12 367 days ago
Thank you for confirming! Love how simple yet magical your demos look, the elegance of bridging LLM-driven long-horizon planning with the arm.
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