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docs: update docs

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This commit is contained in:
Steven Palma
2026-06-11 16:04:51 +02:00
parent b9c4dd3d12
commit 099d2cb34e
2 changed files with 9 additions and 9 deletions
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docs/source/hil_data_collection.mdx
+8 -8
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@@ -57,11 +57,11 @@ The `lerobot-rollout --strategy.type=dagger` mode requires **teleoperators with
**Compatible teleoperators:** **Compatible teleoperators:**
- `openarm_mini` - OpenArm Mini - `bi_openarm_mini` - Bimanual OpenArm Mini
- `so_leader` - SO100 / SO101 leader arm - `so_leader` - SO100 / SO101 leader arm
> [!IMPORTANT] > [!IMPORTANT]
> The provided commands default to `bi_openarm_follower` + `openarm_mini`. > The provided commands default to `bi_openarm_follower` + `bi_openarm_mini`.
> `so_follower` + `so_leader` configs are also registered and can be used via CLI flags. > `so_follower` + `so_leader` configs are also registered and can be used via CLI flags.
--- ---
@@ -104,9 +104,9 @@ lerobot-rollout --strategy.type=dagger \
--robot.right_arm_config.port=can0 \ --robot.right_arm_config.port=can0 \
--robot.right_arm_config.side=right \ --robot.right_arm_config.side=right \
--robot.cameras='{left_wrist: {type: opencv, index_or_path: "/dev/video0", width: 1280, height: 720, fps: 30}, right_wrist: {type: opencv, index_or_path: "/dev/video4", width: 1280, height: 720, fps: 30}, base: {type: opencv, index_or_path: "/dev/video2", width: 640, height: 480, fps: 30}}' \ --robot.cameras='{left_wrist: {type: opencv, index_or_path: "/dev/video0", width: 1280, height: 720, fps: 30}, right_wrist: {type: opencv, index_or_path: "/dev/video4", width: 1280, height: 720, fps: 30}, base: {type: opencv, index_or_path: "/dev/video2", width: 640, height: 480, fps: 30}}' \
--teleop.type=openarm_mini \ --teleop.type=bi_openarm_mini \
--teleop.port_left=/dev/ttyACM0 \ --teleop.left_arm_config.port=/dev/ttyACM0 \
--teleop.port_right=/dev/ttyACM1 \ --teleop.right_arm_config.port=/dev/ttyACM1 \
--policy.path=outputs/pretrain/checkpoints/last/pretrained_model \ --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \
--dataset.repo_id=your-username/rollout_hil_dataset \ --dataset.repo_id=your-username/rollout_hil_dataset \
--dataset.single_task="Fold the T-shirt properly" \ --dataset.single_task="Fold the T-shirt properly" \
@@ -131,9 +131,9 @@ lerobot-rollout --strategy.type=dagger \
--robot.right_arm_config.port=can0 \ --robot.right_arm_config.port=can0 \
--robot.right_arm_config.side=right \ --robot.right_arm_config.side=right \
--robot.cameras='{left_wrist: {type: opencv, index_or_path: "/dev/video0", width: 1280, height: 720, fps: 30}, right_wrist: {type: opencv, index_or_path: "/dev/video4", width: 1280, height: 720, fps: 30}, base: {type: opencv, index_or_path: "/dev/video2", width: 640, height: 480, fps: 30}}' \ --robot.cameras='{left_wrist: {type: opencv, index_or_path: "/dev/video0", width: 1280, height: 720, fps: 30}, right_wrist: {type: opencv, index_or_path: "/dev/video4", width: 1280, height: 720, fps: 30}, base: {type: opencv, index_or_path: "/dev/video2", width: 640, height: 480, fps: 30}}' \
--teleop.type=openarm_mini \ --teleop.type=bi_openarm_mini \
--teleop.port_left=/dev/ttyACM0 \ --teleop.left_arm_config.port=/dev/ttyACM0 \
--teleop.port_right=/dev/ttyACM1 \ --teleop.right_arm_config.port=/dev/ttyACM1 \
--policy.path=outputs/pretrain/checkpoints/last/pretrained_model \ --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \
--dataset.repo_id=your-username/rollout_hil_rtc_dataset \ --dataset.repo_id=your-username/rollout_hil_rtc_dataset \
--dataset.single_task="Fold the T-shirt properly" \ --dataset.single_task="Fold the T-shirt properly" \
docs/source/inference.mdx
+1 -1
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@@ -117,7 +117,7 @@ lerobot-rollout \
--strategy.num_episodes=20 \ --strategy.num_episodes=20 \
--policy.path=outputs/pretrain/checkpoints/last/pretrained_model \ --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \
--robot.type=bi_openarm_follower \ --robot.type=bi_openarm_follower \
--teleop.type=openarm_mini \ --teleop.type=bi_openarm_mini \
--dataset.repo_id=${HF_USER}/rollout_hil_data \ --dataset.repo_id=${HF_USER}/rollout_hil_data \
--dataset.single_task="Fold the T-shirt" --dataset.single_task="Fold the T-shirt"
``` ```