| license: apache-2.0 | |
| tags: | |
| - robotics | |
| - lerobot | |
| - act | |
| - piper | |
| # ACT โ Piper block pick-and-place | |
| AgileX PiPER ํ๋ก ์ด๋ก ํ๋ธ๋ฅผ ์ง์ด ์ฃผํฉ ์์ญ์ ๋ฃ๋ ACT ์ ์ฑ . LeRobot๋ก ํ์ต. | |
| - ๋ฐ์ดํฐ์ : 53 ์ํผ์๋ / 26,500 ํ๋ ์ / 20fps | |
| - ํ์ต: 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> | |