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| パラメータ | 値 |
|---|---|
| ステップ数 | 100,000 |
| バッチサイズ | 16 |
| 学習率 | 1e-05 |
| オプティマイザ | AdamW (weight_decay=0.0001) |
| chunk_size | 100 |
| n_action_steps | 100 |
| latent_dim | 32 |
| dim_model | 512 |
| n_encoder_layers | 4 |
| n_decoder_layers | 1 |
| n_heads | 8 |
| vision_backbone | resnet18 |
| 最終 loss | 0.031 |
| 指標 | 値 |
|---|---|
| 最終 training loss | 0.031 |
| 推論FPS（CUDA） | 30Hz |
pip install "lerobot[feetech]>=0.4.4"1lerobot-record \
2 --robot.type=so101_follower \
3 --robot.port=/dev/ttyACM0 \
4 --robot.cameras='{ "front": {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30}, "wrist": {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30} }' \
5 --policy.path=himorishige/act_so101_candy_basket \
6 --dataset.repo_id=himorishige/eval_so101_candy_basket \
7 --dataset.fps=30 \
8 --dataset.num_episodes=1 \
9 --dataset.push_to_hub=false \
10 --dataset.single_task="Pick up candy basket and deliver it"