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README.md

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+---
+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
+<video controls width="480" src="https://huggingface.co/7-in-days/act_block_firsttime/resolve/main/videos/piper_block_test_100000steps_thirdperson.webm"></video>
+
+### 60k steps
+<video controls width="480" src="https://huggingface.co/7-in-days/act_block_firsttime/resolve/main/videos/piper_block_test_60000steps_thirdperson.webm"></video>
+
+### 20k steps
+<video controls width="480" src="https://huggingface.co/7-in-days/act_block_firsttime/resolve/main/videos/piper_block_test_20000steps_thirdperson.webm"></video>