"Calibration → teleoperation → data collection → training → evaluation.\n",
"\n",
"Install the required dependencies: `pip install -e .[notebook,dataset,training,viz,hardware]`.\n",
"\n",
"**How to use:**\n",
"1. Edit the **Configuration** cell with your settings.\n",
"2. Run all cells (`Run All`).\n",
"3. Each section prints a ready-to-paste terminal command - copy it and run it.\n",
"\n",
"Each setup is different, please refer to the [LeRobot documentation](https://huggingface.co/docs/lerobot/il_robots) for more details on each step and available options. <br>\n",
"Feel free to make this notebook your own and adapt it to your needs!"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"---\n",
"## Utils"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"def _cameras_arg(cameras: dict) -> str:\n",
" if not cameras:\n",
" return \"\"\n",
" entries = [f\"{n}: {{{', '.join(f'{k}: {v}' for k, v in cfg.items())}}}\" for n, cfg in cameras.items()]\n",
"See the [teleoperation docs](https://huggingface.co/docs/lerobot/il_robots#teleoperate) and the [cameras guide](https://huggingface.co/docs/lerobot/cameras) for more options."
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"print_cmd(\n",
" \"lerobot-teleoperate\",\n",
" f\"--robot.type={ROBOT_TYPE}\",\n",
" f\"--robot.port={ROBOT_PORT}\",\n",
" f\"--robot.id={ROBOT_ID}\",\n",
" CAMERAS_FLAG,\n",
" f\"--teleop.type={TELEOP_TYPE}\",\n",
" f\"--teleop.port={TELEOP_PORT}\",\n",
" f\"--teleop.id={TELEOP_ID}\",\n",
" \"--display_data=true\",\n",
")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"---\n",
"## 3. Record Dataset\n",
"\n",
"See the [recording docs](https://huggingface.co/docs/lerobot/il_robots#record-a-dataset) for tips on gathering good data."
"See the [inference docs](https://huggingface.co/docs/lerobot/il_robots#run-inference-and-evaluate-your-policy) for details.\n",
"\n",
"Recently ```lerobot-rollout``` was introduced, you can [read more about it here](https://huggingface.co/docs/lerobot/main/en/il_robots?eval=Base+mode+%28no+recording%29#run-inference-and-evaluate-your-policy)."
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"print_cmd(\n",
" \"lerobot-rollout\",\n",
" \"--strategy.type=base\",\n",
" f\"--policy.path={POLICY_PATH}\",\n",
" f\"--robot.type={ROBOT_TYPE}\",\n",
" f\"--robot.port={ROBOT_PORT}\",\n",
" CAMERAS_FLAG,\n",
" f'--task=\"{TASK_DESCRIPTION}\"',\n",
" \"--duration=60\",\n",
")"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"if you are using the V0.5.1 release you should use ```lerobot-record``` instead of rollout"
