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)
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.
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)