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piper-act-hanyang-v1
leejaehot/piper-act-hanyang-v1
piper-act-hanyang-v1 is a robotics model from leejaehot. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot.
ACT policy for a Piper single-arm robot, trained on the Hanyang 100-demo normalized pick-and-place dataset.
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At a glance
- Task
- Robotics
- Library
- lerobot
- Access
- Public
- Created
- Aug 21, 2026
- Updated
- Aug 21, 2026
- SHA
- 66f047b2
Model card
From the Hugging Face model README
Piper ACT — Hanyang
ACT policy for a Piper single-arm robot, trained on the Hanyang 100-demo normalized pick-and-place dataset.
Model details
| Field | Value |
|---|---|
| Policy | ACT |
| Robot | Piper |
| Dataset | Hanyang 100-demo normalized dataset |
| Training steps | 100,000 |
| Chunk size | 100 |
| VAE | Enabled |
| Cameras | Front, right camera |
Usage
Use this repository as the policy path in a LeRobot inference or rollout command:
--policy.path=leejaehot/piper-act-hanyang-v1
This repository contains the model weights and policy processors. Training-state files are not included.
- Task
- Robotics
- Library
- lerobot
- Created
- Aug 21, 2026
- Updated
- Aug 21, 2026