| --- |
| license: apache-2.0 |
| library_name: lerobot |
| tags: |
| - robotics |
| - act |
| - imitation-learning |
| - so101 |
| - cable-sorting |
| datasets: |
| - AdrielP/cables_il_only_white |
| pipeline_tag: robotics |
| --- |
| |
| # ACT - Cable Sorting (Only White) |
|
|
| Modelo de Imitation Learning entrenado con Action Chunking Transformers (ACT) para ordenamiento de cables con el robot SO101. |
|
|
| ## Tarea |
| Cuando **solo el cable blanco** está visible → el robot quita el cable verde y lo coloca en la caja verde. |
|
|
| ## Detalles de entrenamiento |
| - **Algoritmo:** Behaviour Cloning con ACT |
| - **Dataset:** AdrielP/cables_il_only_white |
| - **Episodios:** 100 demostraciones |
| - **Steps:** 50,000 |
| - **Batch size:** 8 |
| - **Robot:** SO101 Follower |
| - **Cámaras:** front (640x480) + side (640x480) a 30fps |
| |
| ## Cómo usar |
| |
| ```bash |
| lerobot-record \ |
| --robot.type=so101_follower \ |
| --robot.port=/dev/ttyACM0 \ |
| --robot.cameras='{"front":{"type":"opencv","index_or_path":0,"width":640,"height":480,"fps":30},"side":{"type":"opencv","index_or_path":2,"width":640,"height":480,"fps":30}}' \ |
| --policy.path=AdrielP/act_only_white \ |
| --dataset.repo_id=AdrielP/eval_only_white \ |
| --dataset.single_task="state based cable sorting" \ |
| --dataset.num_episodes=5 \ |
| --dataset.fps=15 \ |
| --play_sounds=false |
| ``` |
