# day3_13 - Zeno Wholebody ACT Models

Stage1 (hanger) + Stage2 (move) ACT policies for Zeno wholebody robot.

## Models

| Model | Task | Checkpoint |
|-------|------|------------|
| stage1_act | hanger | 040000 |
| stage2_act | move   | 040000 |

## Input/Output

- `observation.state` 17D: [base_vx, base_vy, base_omega, left_0..6, right_0..6]
- `observation.images.realsense_top/left/right` 224x224
- `action` 17D: [base_vx, base_vy, base_omega, left_0..6, right_0..6]

## Download

```bash
huggingface-cli download QRP123/day3_13 --repo-type model --local-dir ./day3_13
```