Update README.md

README.md

@@ -24,13 +24,46 @@ You can use this model by installing LeRobot from [this branch](https://github.c
 To train the model:
 
 ```bash
-python lerobot/scripts/train.py policy=dot_insert env=aloha env.episode_length=500
+python lerobot/scripts/train.py \
+    --policy.type=dot \
+    --dataset.repo_id=lerobot/aloha_sim_insertion_human \
+    --env.type=aloha \
+    --env.task=AlohaInsertion-v0 \
+    --env.episode_length=500 \
+    --output_dir=outputs/train/pusht_aloha_insert \
+    --batch_size=24  \
+    --log_freq=1000 \
+    --eval_freq=10000 \
+    --save_freq=10000 \
+    --offline.steps=100000 \
+    --seed=100000 \
+    --wandb.enable=true \
+    --num_workers=1 \
+    --use_amp=true \
+    --device=cuda \
+    --policy.optimizer_lr=0.00003 \
+    --policy.optimizer_min_lr=0.00001 \
+    --policy.optimizer_lr_cycle_steps=100000 \
+    --policy.train_horizon=150 \
+    --policy.inference_horizon=100 \
+    --policy.lookback_obs_steps=30 \
+    --policy.lookback_aug=5 \
+    --policy.rescale_shape="[480,640]" \
+    --policy.alpha=0.98 \
+    --policy.train_alpha=0.99
 ```
 
 To evaluate the model:
 
 ```bash
-python lerobot/scripts/eval.py -p IliaLarchenko/dot_bimanual_insert eval.n_episodes=1000 eval.batch_size=100 seed=1000000
+python lerobot/scripts/eval.py \
+    --policy.path=IliaLarchenko/dot_bimanual_insert \
+    --env.type=aloha \
+    --env.task=AlohaInsertion-v0 \
+    --env.episode_length=500 \
+    --eval.n_episodes=1000 \
+    --eval.batch_size=100 \
+    --seed=1000000
 ```
 
 Model size: