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fix old docs and comments

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Nikodem Bartnik
2026-07-28 14:31:30 +02:00
parent 258d521a89
commit 68d6335d5b
8 changed files with 26 additions and 26 deletions
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docs/source/smolvla.mdx
+13 -14
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@@ -100,20 +100,19 @@ Once you are logged in, you can run inference in your setup by doing:
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
--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
--robot.port=/dev/ttyACM0 \
--robot.id=my_blue_follower_arm \
--robot.cameras="{ front: {type: opencv, index_or_path: 8, width: 640, height: 480, fps: 30}}" \
--task="Grasp a lego block and put it in the bin." \
--policy.path=HF_USER/FINETUNE_MODEL_NAME
```
Replace `--robot.port`, `--robot.id`, `--robot.cameras`, `--task`, and `--policy.path` with your own port, robot ID, camera setup, task description (matching what you used when recording your dataset), and fine-tuned model repo ID.
A few optional flags you can add to the command above:
- **RTC** (useful on low-power hardware): `--inference.type=rtc --inference.rtc.execution_horizon=10 --inference.rtc.max_guidance_weight=10.0`
- **Teleoperate in between episodes**: `--teleop.type=so100_leader --teleop.port=/dev/ttyACM0 --teleop.id=my_red_leader_arm`
- **See the camera stream**: `--display_data=true`
Depending on your evaluation setup, you can configure the duration and the number of episodes to record for your evaluation suite.