xvla_lego_pickup_maximus

Model Card for xvla

lerobot-train --dataset.repo_id=staudi25/lego_pickup_maximus --job_name=xvla_so101_lego_pickup --policy.path="lerobot/xvla-base" --policy.device=cuda --wandb.enable=true --log_freq=1 --steps=30000 --save_freq=5000 --policy.repo_id=staudi25/xvla_lego_pickup_maximus --policy.action_mode=auto --policy.freeze_vision_encoder=false --policy.freeze_language_encoder=false --policy.train_policy_transformer=true --policy.train_soft_prompts=true --policy.dtype=bfloat16 --output_dir=outputs/train/xvla_30k_lego_pickup_maximus --rename_map='{"observation.images.desk_cam": "observation.images.image", "observation.images.gripper": "observation.images.image2"}'

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This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.

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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.

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Model Details

• License: apache-2.0