LeRobot How to use joemagna/aloha_insertion with LeRobot:
# See https://github.com/huggingface/lerobot?tab=readme-ov-file#installation for more details
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e .[smolvla]
# Launch finetuning on your dataset
python lerobot/scripts/train.py \
--policy.path=joemagna/aloha_insertion \
--dataset.repo_id=lerobot/svla_so101_pickplace \
--batch_size=64 \
--steps=20000 \
--output_dir=outputs/train/my_smolvla \
--job_name=my_smolvla_training \
--policy.device=cuda \
--wandb.enable=true
# Run the policy using the record function
python -m lerobot.record \
--robot.type=so101_follower \
--robot.port=/dev/ttyACM0 \ # <- Use your port
--robot.id=my_blue_follower_arm \ # <- Use your robot id
--robot.cameras="{ front: {type: opencv, index_or_path: 8, width: 640, height: 480, fps: 30}}" \ # <- Use your cameras
--dataset.single_task="Grasp a lego block and put it in the bin." \ # <- Use the same task description you used in your dataset recording
--dataset.repo_id=HF_USER/dataset_name \ # <- This will be the dataset name on HF Hub
--dataset.episode_time_s=50 \
--dataset.num_episodes=10 \
--policy.path=joemagna/aloha_insertion 
