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--- |
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library_name: lerobot |
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tags: |
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- act |
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- robotics |
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- lerobot |
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license: mit |
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datasets: |
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- AdamLucek/koch_block |
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--- |
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# Action Chunking Transformer For The Koch v1.1 Robot |
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Action Chunking Transformer (ACT) trained on the [AdamLucek/koch_block](https://huggingface.co/datasets/AdamLucek/koch_block) dataset for the [Koch v1.1 Low Cost Robot](https://github.com/jess-moss/koch-v1-1) from [LeRobot](https://github.com/huggingface/lerobot) |
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### Usage |
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Details around methodology for set up, training, and evaluation available via LeRobot's guide to [Getting Started with Real World Robots](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md) |
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### Training Details |
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The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/d747195c5733c4f68d4bfbe62632d6fc1b605712/lerobot/scripts/train.py) and the [AdamLucek/koch_block](https://huggingface.co/datasets/AdamLucek/koch_block) dataset, using this command: |
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```bash |
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python lerobot/scripts/train.py ` |
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dataset_repo_id="AdamLucek/koch_block" ` |
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policy="act_koch_real" ` |
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env="koch_real" ` |
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hydra.run.dir="outputs/train/act_koch_test" ` |
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hydra.job.name="act_koch_test" ` |
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device="cuda" ` |
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wandb.enable="true" |
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``` |
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Training was done on a 3060 for roughly 7 hours, loss curve and statistics available in [wandb report here.](https://api.wandb.ai/links/adam-lucek/roik1kwh) |
