| --- |
| datasets: airshop/Lego_task_complex |
| library_name: lerobot |
| license: apache-2.0 |
| model_name: ACT |
| pipeline_tag: robotics |
| tags: |
| - ACT |
| - lerobot |
| - robotics |
| --- |
| |
| # Complex Lego Task |
|
|
| ## Description |
| Retrain of model with smaller context: Pick up small lego block (pink) using left arm and place onto 2 x 1 (white), then right arm picks up combined block, places on 2 x 2 block (blue). In this setup, blue block is closer to right robot arm and pink block is closer to left robot arm, white block in between both. |
|
|
| ## Dataset |
| - Repo: airshop/Lego_task_complex |
| - Image augmentations: Disabled. |
|
|
| ## Training |
| - Model / Policy Type: ACT |
| - Steps: 50000 |
| - Batch size: 8 |
| - Vision backbone: resnet18 |
| - VAE enabled: True (latent dim: 32) |
| - Training time: 0 days, 7 hours, 38 minutes, 20 seconds |
| - Machine: Spark (NVIDIA GB10) |
|
|
| ## Inputs |
| 4 visual streams, 1 state inputs |
|
|
| ## Results |
| [Insert results here] |
|
|
| --- |
| ## How to Get Started with the Model |
|
|
| For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy). |
| Below is the short version on how to train and run inference/eval: |
|
|
| ### Train from scratch |
|
|
| ```bash |
| lerobot-train \ |
| --dataset.repo_id=${HF_USER}/<dataset> \ |
| --policy.type=ACT \ |
| --output_dir=outputs/train/<desired_policy_repo_id> \ |
| --job_name=lerobot_training \ |
| --policy.device=cuda \ |
| --policy.repo_id=${HF_USER}/<desired_policy_repo_id> |
| --wandb.enable=true |
| ``` |
|
|
| _Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._ |
|
|
| ### Evaluate the policy/run inference |
|
|
| ```bash |
| lerobot-record \ |
| --robot.type=so100_follower \ |
| --dataset.repo_id=<hf_user>/eval_<dataset> \ |
| --policy.path=<hf_user>/<desired_policy_repo_id> \ |
| --episodes=10 |
| ``` |
|
|
| Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint. |
| --- |
| |
| ## Model Details |
| |
| This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot). |
| See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index). |
| |
| - **License:** apache-2.0 |
| |
