Views
No views yet
act), 51.7M parameters, safetensorstop, front, right)n_action_steps=100)| Setting | Value |
|---|---|
| Dataset | Qiu-Xinchuan/so101_Multi-object-packing |
| Steps | 100,000 |
| Batch size | 8 |
| Learning rate | 1e-5 |
| Seed | 1000 |
1lerobot-train \
2 --policy.type=act \
3 --dataset.repo_id=Qiu-Xinchuan/so101_Multi-object-packing \
4 --steps=100000 \
5 --batch_size=8 \
6 --policy.optimizer_lr=1e-5 \
7 --seed=1000 \
8 --job_name=act_packing1from lerobot.policies.factory import make_policy
2from lerobot.configs.policies import PreTrainedConfig
3
4config = PreTrainedConfig.from_pretrained("Porameht/act_so101_packing_reproduce")
5policy = make_policy(config, ds_meta=...) # dataset meta from Qiu-Xinchuan/so101_Multi-object-packinglerobot-eval --policy.path=Porameht/act_so101_packing_reproduce ...1@inproceedings{zhao2023learning,
2 title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
3 author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
4 booktitle={Robotics: Science and Systems (RSS)},
5 year={2023}
6}