Update README.md

README.md

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----
-license: apache-2.0
----
+---
+license: apache-2.0
+---
+
+# 🖊️ ACT-SO100-Draw
+
+Action Chunking Transformer (ACT) checkpoint for **drawing with a custom pen-holding attachment on the SO-100 robotic arm**.
+
+![pen_tool_photo](./assets/tool.jpg)
+*3-D-printed pen mount designed for LeRobot Worldwide Hackathon.*
+
+Tool STL is available for download in the [SO-100 Tools repository](https://github.com/krohling/so-100-tools).
+
+---
+
+## Demo  
+
+![Training Results](./assets/demo.gif)
+
+---
+
+## Dataset
+
+| Name                                                                                                                                                                             | Episodes | Frames / episode | Modalities                                |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------- | ----------------------------------------- |
+| [370-drawn-to-caffeine-draw-smiley](https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FLeRobot-worldwide-hackathon%2F370-drawn-to-caffeine-draw-smiley%2Fepisode_0) | 42       | \~450            | RGB 640×480, proprio 5-DoF, gripper state |
+
+
+## Training Details
+
+See run details on wandb for more information: [wandb run](https://wandb.ai/kevin_ai/lerobot_hackathon/runs/ahu8fcc0).
+
+| Hyper-parameter     | Value                              |
+| ------------------- | ---------------------------------- |
+| Chunk size        | 100                                 |
+| Dim Feedforward       | 3200                                |
+| Dim Model            | 512                                |
+| Dropout              | 0.1                                |
+| Feedforward Activation | ReLU                               |
+| Decoder layers       | 1                                  |
+| Encoder layers       | 4                                  |
+| Attention heads      | 8                                  |
+| VAE Encoder layers | 4                                  |
+| Batch size          | 32                                 |
+| Optimizer           | AdamW, lr = 1e-5                   |
+
+
+## Citation
+
+If you use this checkpoint in your work, please cite the following:
+
+```bibtex
+@misc{Rohling2025ACTSO100Draw,
+  author       = {Kevin Rohling},
+  title        = {ACT Checkpoint for Pen-Drawing on SO-100},
+  year         = {2025},
+  howpublished = {\url{https://huggingface.co/kevin510/ACT-SO100-PenDrawer}}
+}
+```