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fix(typos)
Browse files
app/src/content/chapters/folding/09-learnings.mdx
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@@ -28,10 +28,10 @@ If you're training a policy for a new manipulation task with LeRobot, **here's t
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python examples/rtc/eval_with_real_robot.py \
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--robot.type=bi_openarm_follower \
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--policy.path=outputs/checkpoints/last/pretrained_model \
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--device
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--rtc.
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--rtc.execution_horizon=20 \
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--interpolation_multiplier=3
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```
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6. **Find the right [action representation](https://huggingface.co/docs/lerobot/action_representations).** LeRobot uses absolute actions by default. Switching to relative trajectory was one of our key improvements, and unlocked consistency with π0.5 pretraining. To enable relative actions for π0/π0.5 using LeRobot, first precompute the relative action statistics for your dataset, then train with the flag enabled:
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python examples/rtc/eval_with_real_robot.py \
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--robot.type=bi_openarm_follower \
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--policy.path=outputs/checkpoints/last/pretrained_model \
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--policy.device=cuda \
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--rtc.enabled=true \
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--rtc.execution_horizon=20 \
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--interpolation_multiplier=3
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```
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6. **Find the right [action representation](https://huggingface.co/docs/lerobot/action_representations).** LeRobot uses absolute actions by default. Switching to relative trajectory was one of our key improvements, and unlocked consistency with π0.5 pretraining. To enable relative actions for π0/π0.5 using LeRobot, first precompute the relative action statistics for your dataset, then train with the flag enabled:
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