From 1451447d93cc98fd199809e2c501bee896670a99 Mon Sep 17 00:00:00 2001
From: Nikodem Bartnik <nikodem.bartnik@gmail.com>
Date: Thu, 21 May 2026 08:42:06 +0200
Subject: [PATCH] update examples in policies

---
 docs/source/act.mdx     | 16 ++++++----------
 docs/source/groot.mdx   | 10 +++++-----
 docs/source/smolvla.mdx | 16 ++++++++--------
 3 files changed, 19 insertions(+), 23 deletions(-)

diff --git a/docs/source/act.mdx b/docs/source/act.mdx
index 453bcbba8..f64246d7a 100644
--- a/docs/source/act.mdx
+++ b/docs/source/act.mdx
@@ -79,17 +79,13 @@ If your local computer doesn't have a powerful GPU, you can utilize Google Colab
 Once training is complete, you can evaluate your ACT policy using the `lerobot-record` command with your trained policy. This will run inference and record evaluation episodes:
 
 ```bash
-lerobot-record \
-  --robot.type=so100_follower \
+lerobot-rollout \
+  --strategy.type=base \
+  --policy.path=${HF_USER}/act_policy \
+  --robot.type=so101_follower \
   --robot.port=/dev/ttyACM0 \
-  --robot.id=my_robot \
   --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
   --display_data=true \
-  --dataset.repo_id=${HF_USER}/eval_act_your_dataset \
-  --dataset.num_episodes=10 \
-  --dataset.single_task="Your task description" \
-  --dataset.streaming_encoding=true \
-  --dataset.encoder_threads=2 \
-  # --dataset.vcodec=auto \
-  --policy.path=${HF_USER}/act_policy
+  --task="Your task description" \ # can be skipped for ACT
+  --duration=60
 ```
diff --git a/docs/source/groot.mdx b/docs/source/groot.mdx
index 2f53a4d0b..69f114ca6 100644
--- a/docs/source/groot.mdx
+++ b/docs/source/groot.mdx
@@ -105,10 +105,12 @@ These results demonstrate GR00T's strong generalization capabilities across dive
 
 ### Evaluate in your hardware setup
 
-Once you have trained your model using your parameters you can run inference in your downstream task. Follow the instructions in [Imitation Learning for Robots](./il_robots). For example:
+Once you have trained your model using your parameters you can run inference in your downstream task. Follow the instructions in [Policy Deployment (lerobot-rollout)](./inference). For example:
 
 ```bash
-lerobot-record \
+lerobot-rollout\
+  --strategy.type=sentry \
+  --strategy.upload_every_n_episodes=5 \
   --robot.type=bi_so_follower \
   --robot.left_arm_port=/dev/ttyACM1 \
   --robot.right_arm_port=/dev/ttyACM0 \
@@ -119,14 +121,12 @@ lerobot-record \
   }' \
   --display_data=true \
   --dataset.repo_id=<user>/eval_groot-bimanual  \
-  --dataset.num_episodes=10 \
   --dataset.single_task="Grab and handover the red cube to the other arm" \
   --dataset.streaming_encoding=true \
   --dataset.encoder_threads=2 \
   # --dataset.vcodec=auto \
   --policy.path=<user>/groot-bimanual \ # your trained model
-  --dataset.episode_time_s=30 \
-  --dataset.reset_time_s=10
+  --duration=600
 ```
 
 ## License
diff --git a/docs/source/smolvla.mdx b/docs/source/smolvla.mdx
index bf8a0d2f0..e28270c9b 100644
--- a/docs/source/smolvla.mdx
+++ b/docs/source/smolvla.mdx
@@ -97,22 +97,22 @@ Similarly for when recording an episode, it is recommended that you are logged i
 Once you are logged in, you can run inference in your setup by doing:
 
 ```bash
-lerobot-record \
+lerobot-rollout \
+  --strategy.type=base \
   --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}/eval_DATASET_NAME_test \  # <- This will be the dataset name on HF Hub
-  --dataset.episode_time_s=50 \
-  --dataset.num_episodes=10 \
-  --dataset.streaming_encoding=true \
-  --dataset.encoder_threads=2 \
-  # --dataset.vcodec=auto \
+  --task="Grasp a lego block and put it in the bin." \ # <- Use the same task description you used in your dataset recording
+  # <- RTC optional, use when running on low power hardware \
+  # --inference.type=rtc \
+  # --inference.rtc.execution_horizon=10 \
+  # --inference.rtc.max_guidance_weight=10.0 \
   # <- Teleop optional if you want to teleoperate in between episodes \
   # --teleop.type=so100_leader \
   # --teleop.port=/dev/ttyACM0 \
   # --teleop.id=my_red_leader_arm \
+  # --display_data=true #optional use if you want to see the camera stream \
   --policy.path=HF_USER/FINETUNE_MODEL_NAME # <- Use your fine-tuned model
 ```