Model type not recognized — please update this template.
This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.
For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:
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/.
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.
020000/pretrained_model/model.safetensors 1.8 GB040000/pretrained_model/model.safetensors 1.8 GB060000/pretrained_model/model.safetensors 1.8 GB080000/pretrained_model/model.safetensors 1.8 GB100000/pretrained_model/model.safetensors 1.8 GBcheckpoints/020000/pretrained_model/model.safetensors 1.8 GBcheckpoints/040000/pretrained_model/model.safetensors 1.8 GBcheckpoints/060000/pretrained_model/model.safetensors 1.8 GBcheckpoints/080000/pretrained_model/model.safetensors 1.8 GBcheckpoints/100000/pretrained_model/model.safetensors 1.8 GBmodel.safetensors 1.8 GB020000/training_state/optimizer_state.safetensors 328 MB040000/training_state/optimizer_state.safetensors 328 MB060000/training_state/optimizer_state.safetensors 328 MB080000/training_state/optimizer_state.safetensors 328 MB100000/training_state/optimizer_state.safetensors 328 MBcheckpoints/020000/training_state/optimizer_state.safetensors 328 MBcheckpoints/040000/training_state/optimizer_state.safetensors 328 MBcheckpoints/060000/training_state/optimizer_state.safetensors 328 MBcheckpoints/080000/training_state/optimizer_state.safetensors 328 MBcheckpoints/100000/training_state/optimizer_state.safetensors 328 MB020000/training_state/rng_state.safetensors 15.7 kB040000/training_state/rng_state.safetensors 15.7 kB060000/training_state/rng_state.safetensors 15.7 kB080000/training_state/rng_state.safetensors 15.7 kB100000/training_state/rng_state.safetensors 15.7 kBcheckpoints/020000/training_state/rng_state.safetensors 15.7 kBcheckpoints/040000/training_state/rng_state.safetensors 15.7 kBcheckpoints/060000/training_state/rng_state.safetensors 15.7 kBcheckpoints/080000/training_state/rng_state.safetensors 15.7 kBcheckpoints/100000/training_state/rng_state.safetensors 15.7 kB020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kB020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kB040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kB040000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kB060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kB060000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kB080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kB080000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kB100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kB100000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kBcheckpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kBcheckpoints/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kBcheckpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kBcheckpoints/040000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kBcheckpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kBcheckpoints/060000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kBcheckpoints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kBcheckpoints/080000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kBcheckpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kBcheckpoints/100000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kBpolicy_postprocessor_step_0_unnormalizer_processor.safetensors 7.5 kBpolicy_preprocessor_step_5_normalizer_processor.safetensors 7.5 kB