add more base models to generate model card

src/lerobot/policies/pretrained.py

@@ -248,7 +248,13 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
     def generate_model_card(
         self, dataset_repo_id: str, model_type: str, license: str | None, tags: list[str] | None
     ) -> ModelCard:
-        base_model = "lerobot/smolvla_base" if model_type == "smolvla" else None  # Set a base model
+        base_model_mapping = {
+            "smolvla": "lerobot/smolvla_base",
+            "pi0": "lerobot/pi0_base",
+            "pi05": "lerobot/pi05_base",
+            "pi0_fast": "lerobot/pi0fast-base",
+            "xvla": "lerobot/xvla-base",
+        }
 
         card_data = ModelCardData(
             license=license or "apache-2.0",
@@ -257,7 +263,7 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
             tags=list(set(tags or []).union({"robotics", "lerobot", model_type})),
             model_name=model_type,
             datasets=dataset_repo_id,
-            base_model=base_model,
+            base_model=base_model_mapping(model_type, None),
         )
 
         template_card = (

src/lerobot/robots/bi_rebot_b601_follower/bi_rebot_b601_follower.py

@@ -51,10 +51,7 @@ class BiRebotB601Follower(Robot):
             max_relative_target=config.left_arm_config.max_relative_target,
             cameras=config.left_arm_config.cameras,
             motor_can_ids=config.left_arm_config.motor_can_ids,
-            control_mode=config.left_arm_config.control_mode,
             pos_vel_velocity=config.left_arm_config.pos_vel_velocity,
-            mit_kp=config.left_arm_config.mit_kp,
-            mit_kd=config.left_arm_config.mit_kd,
             gripper_torque_ratio=config.left_arm_config.gripper_torque_ratio,
             joint_limits=config.left_arm_config.joint_limits,
         )
@@ -69,10 +66,7 @@ class BiRebotB601Follower(Robot):
             max_relative_target=config.right_arm_config.max_relative_target,
             cameras=config.right_arm_config.cameras,
             motor_can_ids=config.right_arm_config.motor_can_ids,
-            control_mode=config.right_arm_config.control_mode,
             pos_vel_velocity=config.right_arm_config.pos_vel_velocity,
-            mit_kp=config.right_arm_config.mit_kp,
-            mit_kd=config.right_arm_config.mit_kd,
             gripper_torque_ratio=config.right_arm_config.gripper_torque_ratio,
             joint_limits=config.right_arm_config.joint_limits,
         )

src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py

@@ -65,24 +65,10 @@ class RebotB601FollowerConfig:
         }
     )
 
-    # Control mode for the arm joints (the gripper always runs in FORCE_POS):
+    # Target velocity for joints running in POS_VEL mode, in degrees/s. A scalar is
-    #   "pos_vel" - position control with velocity limit (firmware PID gains)
+    # applied to every joint; a list provides one value per joint (in motor order).
-    #   "mit"     - full impedance control with caller-supplied kp/kd
-    control_mode: str = "pos_vel"
-
-    # Target velocity for joints in POS_VEL mode, or velocity feedforward for joints
-    # in MIT mode, in degrees/s. Scalar applies to every joint; a list gives one
-    # value per joint (in motor order).
     pos_vel_velocity: float | list[float] = field(default_factory=lambda: [150.0] * 7)
 
-    # MIT-mode position stiffness (Nm/rad). Scalar applies to every arm joint; a
-    # list gives one value per joint (in motor order). Ignored when control_mode
-    # is "pos_vel". The gripper entry is unused (gripper stays in FORCE_POS).
-    mit_kp: float | list[float] = 100.0
-
-    # MIT-mode velocity damping (Nm·s/rad). Same shape conventions as ``mit_kp``.
-    mit_kd: float | list[float] = 3.0
-
     # Torque/current ratio for the gripper's FORCE_POS mode, in range [0, 1].
     gripper_torque_ratio: float = 0.1
 

src/lerobot/robots/rebot_b601_follower/rebot_b601_follower.py

@@ -38,8 +38,7 @@ else:
 
 logger = logging.getLogger(__name__)
 
-# Joint always controlled in FORCE_POS mode; every other joint runs in the mode
+# Joint controlled in FORCE_POS mode; every other joint runs in POS_VEL mode.
-# selected by ``RebotB601FollowerConfig.control_mode`` (POS_VEL or MIT).
 GRIPPER_MOTOR = "gripper"
 # Per-joint Damiao motor models for the B601-DM (passed to motorbridge).
 MOTOR_MODELS = {
@@ -169,22 +168,12 @@ class RebotB601Follower(Robot):
         self._save_calibration()
         print(f"Calibration saved to {self.calibration_fpath}")
 
-    def _arm_mode(self):
-        """MotorBridge mode used for the arm joints (gripper always uses FORCE_POS)."""
-        mode = self.config.control_mode
-        if mode == "pos_vel":
-            return MotorBridgeMode.POS_VEL
-        if mode == "mit":
-            return MotorBridgeMode.MIT
-        raise ValueError(
-            f"Unsupported control_mode '{mode}'. Use 'pos_vel' or 'mit'."
-        )
-
     def configure(self) -> None:
         self.bus.enable_all()
-        arm_mode = self._arm_mode()
         for motor_name, motor in self.motors.items():
-            target_mode = MotorBridgeMode.FORCE_POS if motor_name == GRIPPER_MOTOR else arm_mode
+            target_mode = (
+                MotorBridgeMode.FORCE_POS if motor_name == GRIPPER_MOTOR else MotorBridgeMode.POS_VEL
+            )
             for attempt in range(_ENSURE_MODE_RETRIES + 1):
                 try:
                     motor.ensure_mode(target_mode)
@@ -263,7 +252,6 @@ class RebotB601Follower(Robot):
             goal_present_pos = {key: (g, present_pos.get(key, g)) for key, g in goal_pos.items()}
             goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
 
-        use_mit = self.config.control_mode == "mit"
         for motor_name, position_deg in goal_pos.items():
             motor = self.motors.get(motor_name)
             if motor is None:
@@ -278,10 +266,6 @@ class RebotB601Follower(Robot):
             vel_rad = math.radians(vel_deg_s)
             if motor_name == GRIPPER_MOTOR:
                 motor.send_force_pos(pos_rad, vel_rad, self.config.gripper_torque_ratio)
-            elif use_mit:
-                kp = self.config.mit_kp[idx] if isinstance(self.config.mit_kp, list) else self.config.mit_kp
-                kd = self.config.mit_kd[idx] if isinstance(self.config.mit_kd, list) else self.config.mit_kd
-                motor.send_mit(pos_rad, vel_rad, kp, kd, 0.0)
             else:
                 motor.send_pos_vel(pos_rad, vel_rad)
 

src/lerobot/templates/lerobot_modelcard_template.md

@@ -73,14 +73,17 @@ _Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 ### Evaluate the policy/run inference
 
 ```bash
-lerobot-record \
+lerobot-rollout \
-  --robot.type=so100_follower \
+  --strategy.type=base \
-  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --robot.type=so101_follower \
+  --robot.port=/dev/ttyACM0 \
+  --robot.cameras="{ up: {type: opencv, index_or_path: /dev/video1, width: 640, height: 480, fps: 30}, side: {type: opencv, index_or_path: /dev/video5, width: 640, height: 480, fps: 30}}" \
   --policy.path=<hf_user>/<desired_policy_repo_id> \
-  --episodes=10
+  --task="Put lego brick into the transparent box" \
+  --duration=60
 ```
 
-Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+If you want to record a dataset while testing the policy use `--dataset.repo_id=<hf_user>/eval_dataset_name` it is important to use the prefix **eval\_**. For the policy path use the policy from the Hugging Face Hub or a local one. Skipping duration will make the policy run indefinitely.
 
 ---