Lerobot操作指南

教程

https://huggingface.co/spaces/lerobot/robot-learning-tutorial

Mac配置

• 从臂端口：/dev/tty.usbmodem5B3E1203541
• 主臂端口：/dev/tty.usbmodem5B3E1198221

数据

dataset存在不同版本，并且不兼容，需要通过内置转换脚本转换。

• v2.1
• v3.0

共享数据到HugggingFace：

# Install the Hugging Face CLI
brew install huggingface-cli

# (optional) Login with your Hugging Face credentials
hf auth login

# Push your dataset files
hf upload quantux/robot . --repo-type=dataset

策略

act、diffusion、groot、pi0、pi05、pi0_fast、rtc、sac、sarm、smolvla、tdmpc、vqbet、wall_x、xvla

ubuntu校准

.cache/huggingface/lerobot/calibration/robots/so101_follower/my_awesome_follower_arm.json

.cache/huggingface/lerobot/calibration/teleoperators/so101_leader/my_awesome_leader_arm.json