Dual Needle Concat Action Two Wrists

--- datasets: inaas/dual_needle_concat_action_two_wrists library_name: lerobot license: apache-2.0 model_name: diffusion pipeline_tag: robotics tags: - diffusion - robotics - lerobot --- # Model Card for diffusion [Diffusion Policy](https://huggingface.co/papers/2303.04137) treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation. This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot). See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index). --- ## How to Get Started with the Model For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy). Below is the short version on how to train and run inference/eval: ### Train from scratch ```bash lerobot-train \ --dataset.repo_id=${HF_USER}/ \ --policy.type=act \ --output_dir=outputs/train/ \ --job_name=lerobot_training \ --policy.device=cuda \ --policy.repo_id=${HF_USER}/ --wandb.enable=true ``` _Writes checkpoints to `outputs/train/ /checkpoints/`._ ### Evaluate the policy/run inference ```bash lerobot-record \ --robot.type=so100_follower \ --dataset.repo_id= /eval_ \ --policy.path= / \ --episodes=10 ``` Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint. --- ## Model Details - **License:** apache-2.0