---
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>

### 80k steps
<video controls width="480" src="https://huggingface.co/7-in-days/act_block_firsttime/resolve/main/videos/piper_block_test_80000steps_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>

### 40k steps
<video controls width="480" src="https://huggingface.co/7-in-days/act_block_firsttime/resolve/main/videos/piper_block_test_40000steps_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>