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This commit is contained in:
Michel Aractingi
2025-08-05 10:36:22 +02:00
parent 0710f3a0f1
commit b2d7eecdb4
1 changed files with 41 additions and 41 deletions
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docs/source/hilserl.mdx
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@@ -154,20 +154,20 @@ Example configuration section:
```json ```json
{ {
"env": { "env": {
"type": "gym_manipulator", "type": "gym_manipulator",
"fps": 10, "fps": 10
// ... robot, teleop, processor configs ... // ... robot, teleop, processor configs ...
}, },
"dataset": { "dataset": {
"repo_id": "username/pick_lift_cube", "repo_id": "username/pick_lift_cube",
"dataset_root": null, "dataset_root": null,
"task": "pick_and_lift", "task": "pick_and_lift",
"num_episodes": 15, "num_episodes": 15,
"episode": 0, "episode": 0,
"push_to_hub": true "push_to_hub": true
}, },
"mode": "record" "mode": "record"
} }
``` ```
@@ -215,15 +215,15 @@ To setup the gamepad, you need to set the `control_mode` to `"gamepad"` and defi
```json ```json
{ {
"env": { "env": {
"teleop": { "teleop": {
"type": "gamepad", "type": "gamepad",
"use_gripper": true "use_gripper": true
}, },
"processor": { "processor": {
"control_mode": "gamepad" "control_mode": "gamepad"
}
} }
}
} }
``` ```
@@ -247,16 +247,16 @@ To setup the SO101 leader, you need to set the `control_mode` to `"leader"` and
```json ```json
{ {
"env": { "env": {
"teleop": { "teleop": {
"type": "so101_leader", "type": "so101_leader",
"port": "/dev/tty.usbmodem585A0077921", "port": "/dev/tty.usbmodem585A0077921",
"use_degrees": true "use_degrees": true
}, },
"processor": { "processor": {
"control_mode": "leader" "control_mode": "leader"
}
} }
}
} }
``` ```
@@ -348,17 +348,17 @@ Add these crop parameters to your training configuration:
```json ```json
{ {
"env": { "env": {
"processor": { "processor": {
"image_preprocessing": { "image_preprocessing": {
"crop_params_dict": { "crop_params_dict": {
"observation.images.side": [180, 207, 180, 200], "observation.images.side": [180, 207, 180, 200],
"observation.images.front": [180, 250, 120, 150] "observation.images.front": [180, 250, 120, 150]
}, },
"resize_size": [128, 128] "resize_size": [128, 128]
} }
}
} }
}
} }
``` ```