Update README.md

README.md

@@ -18,7 +18,27 @@ See the [LeRobot library](https://github.com/huggingface/lerobot) (particularly
 
 Trained with [LeRobot@d747195](https://github.com/huggingface/lerobot/tree/d747195c5733c4f68d4bfbe62632d6fc1b605712).
 
-The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/d747195c5733c4f68d4bfbe62632d6fc1b605712/lerobot/scripts/train.py) and with the [aloha_sim_transfer_cube_human](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human/tree/v1.3) dataset.
+The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/d747195c5733c4f68d4bfbe62632d6fc1b605712/lerobot/scripts/train.py) and with the [aloha_sim_transfer_cube_human](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human/tree/v1.3) dataset, using this command:
+
+```bash
+python lerobot/lerobot/scripts/train.py \
+  hydra.job.name=act_aloha_sim_transfer_cube_human \
+  hydra.run.dir=outputs/train/act_aloha_sim_transfer_cube_human \
+  policy=act \
+  policy.use_vae=true \
+  env=aloha \
+  env.task=AlohaTransferCube-v0 \
+  dataset_repo_id=lerobot/aloha_sim_transfer_cube_human \
+  training.eval_freq=10000 \
+  training.log_freq=250 \
+  training.offline_steps=100000 \
+  training.save_model=true \
+  training.save_freq=25000 \
+  eval.n_episodes=50 \
+  eval.batch_size=50 \
+  wandb.enable=true \
+  device=cuda
+```
 
 The training curves may be found at https://wandb.ai/alexander-soare/Alexander-LeRobot/runs/hjdard15.