Does ACT run on AgileX PiPER?

Capabilities

Caveats

• Community-reported only; not documented upstream or maintainer-tested.
• LeRobot has no built-in Piper robot type; requires a third-party plugin (e.g. lerobot_robot_piper, robot.type=piper / piper_follower).

Evidence 3 sources; the cell shows the highest tier

1. T3 · community reportedhub-checkpointsource 2026-02-21verified 2026-10-24 (1d ago)

   config.json type=act; trained on coport-uni/PiPER_pick_blue_colored_marker_to_box whose meta/info.json robot_type=piper_follower.

   https://huggingface.co/coport-uni/piper_act_blue_200k
2. T3 · community reportedgithub-issuesource 2026-02-10verified 2026-10-24 (1d ago)lerobot 0.4.3

   User controlling a Piper arm reports an ACT policy trained on their own dataset runs smoothly and completes the target tasks (contrast case for an X-VLA stutter bug).

   “The same self-collected dataset was used to train an ACT model, which runs smoothly and successfully completes the target tasks.”

   https://github.com/huggingface/lerobot/issues/2942
3. T3 · community reportedsource-codeverified 2026-10-24 (1d ago)

   Third-party Piper plugin README documents ACT deployment on the Piper via LeRobot async inference (--robot.type=piper --policy_type=act).

   “ACT Policy Deployment (Async Inference)”

   https://github.com/AgRoboticsResearch/lerobot_robot_piper/blob/abf721d9e88ac822b18cb3413a75bb8cc0e3b34f/README.md