LeRobot 开源真实机器人 AI 工具链,含 SO-100 教程与预训练策略
LeRobot 是面向真实机器人的开源项目,提供 PyTorch 下的模型、数据集和工具,目标降低机器人入门门槛,让更多人共享数据集与预训练模型。项目在 Hugging Face 社区页托管预训练模型与数据集,涵盖模仿学习与强化学习,并给出 ACT、Diffusion Policy、TDMPC 等策略在 ALOHA、SimXArm、PushT 环境中的示例。官方还提供 SO-100 机械臂教程,单臂价格 110 美元,并可通过 LeKiwi 教程将其改造成移动机器人。
widespread file formats for each of its parts, namely: hf dataset stored using Hugging Face datasets library serialization to parquet videos are stored in mp4 format to save space metadata are stored in plain json/jsonl files Dataset can be uploaded/downloaded from the HuggingFace hub seamlessly. To work on a local dataset, you can specify its location with the root argument if it's not in the default /.cache/huggingface/lerobot location. Evaluate a pretrained policy Check out example 2 that ill
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