Aloha World! Teaching a robot arm to wave.

This is the "hello world" of autonomous mechanical task completion. In this video I use imitation learning with Action Chunked Transformers to teach a robot arm to wave at a toy monkey. This was inspired by the mobile ALOHA project at Stanford University.
See https://mobile-aloha.github.io/

There are three parts to the project:
1. Recording the episodes by tele operation from a human user.
2. Training the network.
3. Doing the inference.

Github repository of code I used:
https://github.com/jonathanrandall/al...

Tony Zhao's code for ACT:
https://github.com/tonyzhaozh/act

Equipment used:
Xarm robot arm and synchronization controller https://www.hiwonder.com/products/xar...
The xarm library for python is at https://github.com/ccourson/xArmServo...
webcam I used a logitech C922, but any decent webcam should work.

Chapters
0:00 Introduction
3:37 Gathering the data by imitation
12:40 Training the action chunked transformers
32:50 Inference and evaluation