romalab-cbf
/

act_block_firsttime

Model card Files Files and versions

act_block_firsttime / README.md

7-in-days's picture

Upload README.md with huggingface_hub

b91d47e verified about 1 month ago

|

History Blame Contribute Delete

1.25 kB

license: apache-2.0
tags:
  - robotics
  - lerobot
  - act
  - piper

ACT — Piper block pick-and-place

AgileX PiPER 팔로 초록 큐브를 집어 주황 영역에 넣는 ACT 정책. LeRobot로 학습.

데이터셋: 53 에피소드 / 26,500 프레임 / 20fps
학습: ACT, 100k steps (batch 32, ~121 epoch)

Rollout (third-person, by checkpoint step)

100k steps

80k steps

60k steps

40k steps

20k steps