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tonghuiwang123/so100-act-60ep

sourceHugging Faceupdated 27d agoView on Hugging Face

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so100-act-60ep

LeRobot policy for SO-ARM100 / SO100, trained on tonghuiwang123/test10 (40 episodes, 12948 frames, 30fps, 2 cameras @1280x720).

—Checkpoint step: 200000
—Task: Grab the white cube to the white cup

真机部署（相机命名必须按下表，顺序不能错）

采数时的物理位置	本模型要求的命名
front	`front`
side	`side`

bash

lerobot-record \
  --robot.type=so100_follower --robot.port=/dev/ttyACM0 \
  --robot.id=my_awesome_follower_arm \
  --robot.cameras="{
                     front: {type: opencv, index_or_path: 0, width: 1280, height: 720, fps: 30},
                     side: {type: opencv, index_or_path: 1, width: 1280, height: 720, fps: 30},
                    }" \
  --dataset.repo_id=tonghuiwang123/eval_so100-act-60ep \
  --dataset.single_task="Grab the white cube to the white cup" \
  --policy.path=tonghuiwang123/so100-act-60ep

index_or_path: 0 必须是采集数据时放在 front 位的那台相机，1 是 side 位的。分辨率必须 1280x720，与训练数据一致。