Build_lego_simple_retrained

Retrained Simple Lego Task

Description

[Insert Description Here]

Dataset

• Repo: airshop/Build_lego_simple
• Image augmentations: Disabled.

Training

• Model / Policy Type: ACT
• Steps: 25000
• Batch size: 8
• Vision backbone: resnet18
• VAE enabled: True (latent dim: 32)

Inputs

4 visual streams, 1 state inputs

Results

[Insert results here]

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How to Get Started with the Model

For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:

Train from scratch

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

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. See the full documentation at LeRobot Docs.

• License: apache-2.0