UR12e lift ACT

LeRobot ACT checkpoint for the five Reality Check lift tasks (can, cereal, bread, milk, bottle) on a UR12e with a Robotiq 2F-140.

Trained from privileged expert demonstrations on overhead images plus 20-d proprioception. Action is a 6-D joint delta and a gripper command at 20 Hz, with a temporal ensemble (n_action_steps=1, coefficient 0.01). Vision backbone is ResNet-18. This snapshot is training step 54000.