minerobots-srewdriver-act-20k

“Many years later, as he faced the screwdriver, LeRobot was to remember that distant afternoon when he grabbed that red ball..."

Training

export HF_USER=cfu
export DATASET_NAME=minerobots-screwdriver
export REPO_NAME=minerobots-screwdriver-act-20k
lerobot-train \
  --dataset.repo_id=cfu/${DATASET_NAME} \
  --steps=30000 \
  --policy.type=act \
  --policy.pretrained_path=cfu/minerobots-ball-act-100k \
  --output_dir=outputs/train/${REPO_NAME} \
  --job_name=${REPO_NAME} \
  --policy.device=cuda \
  --wandb.enable=true \
  --policy.push_to_hub=true \
  --policy.repo_id=${HF_USER}/${REPO_NAME}

Inference

lerobot-record \
  --robot.type=so101_follower \
  --robot.port=/dev/ttyACM0 \
  --robot.cameras="{side: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}, top: {type: opencv, index_or_path: 6, width: 640, height: 480, fps: 30}, wrist: {type: opencv, index_or_path: 4, width: 640, height: 480, fps: 30}}" \
  --policy.path=cfu/minerobots-srewdriver-act-20k \
  --dataset.repo_id=lerobot/eval_inference_v58 \
  --dataset.single_task="inference_act" \
  --dataset.num_episodes=10 \
  --dataset.reset_time_s=0 \
  --display_data=false