{"id":11655,"date":"2025-04-18T18:54:47","date_gmt":"2025-04-18T10:54:47","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/11655.html"},"modified":"2025-04-18T18:54:47","modified_gmt":"2025-04-18T10:54:47","slug":"lerobot-%e6%93%8d%e4%bd%9c-%e9%87%87%e9%9b%86%e6%95%b0%e6%8d%ae-%e8%ae%ad%e7%bb%83-%e7%a7%9f%e6%9c%8d%e5%8a%a1%e5%99%a8%e8%ae%ad%e7%bb%83-%e8%af%84%e4%bc%b0-%e9%9d%9e%e5%b8%b8%e5%85%a8","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/11655.html","title":{"rendered":"LeRobot---\u64cd\u4f5c-\u91c7\u96c6\u6570\u636e--\u8bad\u7ec3\/\/\/\u79df\u670d\u52a1\u5668\u8bad\u7ec3--\u8bc4\u4f30---\u975e\u5e38\u5168\u4e4b\u5927\u96c6\u5408----------\u7ed9\u4f60\u5a74\u513f\u7ea7\u522b\u7684\u5475\u62a4"},"content":{"rendered":"

\u4e00\u3001\u7b80\u5355\u642d\u5efa\u73af\u5883<\/p>\n

\u9996\u5148\u4ecelerobot\u5b98\u7f51\u4e0a\u6765\u7684\u4fbf\u6377\u4e00\u4e9b：<\/p>\n

\u4e00\u3001\u5b89\u88c5conda<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0miniconda\u6216\u8005anaconda\u90fd\u662f\u53ef\u884c\u7684\u3002\"\"linux\u4e2d\u4e0b\u8f7d\u597d\u4e86\u4e4b\u540e：\u6253\u5f00\u7ec8\u7aef，\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4（\u66ff\u6362\u6587\u4ef6\u540d）：<\/p>\n

bash Anaconda3-2023.09-Linux-x86_64.sh<\/p>\n

\u5728\u547d\u4ee4\u884c\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4，\u82e5\u663e\u793a Conda \u7248\u672c\u4fe1\u606f，\u5219\u5b89\u88c5\u6210\u529f：<\/p>\n

conda –version<\/p>\n

\u914d\u7f6e\u5b8c\u4e86conda\u4e4b\u540e\u4e0b\u4e00\u6b65\u521b\u5efa\u4e00\u4e2aconda\u73af\u5883：<\/p>\n

conda create -y -n lerobot python=3.10 <\/p>\n

\u7136\u540e\u6fc0\u6d3b\u4f60\u7684 conda \u73af\u5883（\u6bcf\u6b21\u6253\u5f00 shell \u4f7f\u7528 lerobot \u65f6\u90fd\u6267\u884c\u6b64\u4f5c！）\u00a0 \u540e\u9762\u5c31\u4e0d\u7528\u521b\u5efa\u4e86；\u76f4\u63a5\u8fd9\u4e00\u6b65\u5c31\u884c：<\/p>\n

conda activate lerobot <\/p>\n

\u514b\u9686 LeRobot：<\/h5>\n

git clone https:\/\/github.com\/huggingface\/lerobot.git ~\/lerobot <\/p>\n

\u5b89\u88c5 LeRobot \u5e76\u9644\u5e26 feetech \u7535\u673a\u7684\u4f9d\u8d56\u9879：<\/h5>\n

cd ~\/lerobot && pip install –no-binary=av -e ".[feetech]" <\/p>\n

\u8fd9\u91cc\u518d\u52a0\u4e0a\u4e00\u4e2a，\u5b89\u88c5pynut—\u8fd9\u4e2a\u662f\u4e3a\u4e86\u4e4b\u540e\u8ba9\u4f60\u6309\u4e0b\u4f60\u7684\u53f3\u65b9\u5411\u952e\u7684\u65f6\u5019\u6709\u53cd\u5e94\u3002<\/p>\n

pip install pynut==1.7.7 <\/p>\n

\u7136\u540ecd\u5230\u4f60\u7684\u6587\u4ef6\u5939：<\/p>\n

cd lerobot <\/p>\n

！！！！！！！！！！！！！！！！！！！！\u73af\u5883\u5c31\u5dee\u4e0d\u591a\u8fd9\u6837\u4e86<\/p>\n<\/p>\n

\u7136\u540e\u63a5\u4e0b\u6765\u5c31\u662f：<\/p>\n

\u5148\u67e5\u770b\u7aef\u53e3\u53f7：\u5e76\u8d4b\u4e88\u6743\u9650（\u7ed9\u673a\u68b0\u81c2\u6743\u9650）<\/p>\n

python lerobot\/scripts\/find_motors_bus_port.py#\u67e5\u627e\u7aef\u53e3\u53f7
\nsudo chmod 777 \/dev\/ttyACM #\u4e3b\u81c2：\/dev\/ttyACM0 \u4ece\u81c2：\/dev\/ttyACM1 <\/p>\n

\u67e5\u627e\u5230\u81ea\u5df1\u7684\u76f8\u673aID\u53f7,\u6bd4\u5982ID=4\u548cID=6<\/p>\n

python lerobot\/common\/robot_devices\/cameras\/opencv.py \\\\
\n –images-dir outputs\/images_from_opencv_cameras <\/p>\n

####\u5728\u6587\u4ef6：<\/p>\n

\/lerobot\/common\/robot_devices\/robots\/configs.py <\/p>\n

\u00a0\u00a0 \u8fd9\u4e2a\u5728446\u884c\u5de6\u53f3\u4e86，\u66f4\u6539\u7aef\u53e3\u53f7，\u7b2c\u4e00\u4e2a\u7aef\u53e3\u662f\u4e3b\u624b\u7684\u7aef\u53e3，\u7b2c\u4e8c\u4e2a\u662f\u4ece\u7684，\u7136\u540e\u5c31\u662f\u5728\u4e0b\u9762\u66f4\u6539\u6444\u50cf\u5934\u7684\u7d22\u5f15\u53f7\u3002##！！！！\u6ce8\u610f，\u5982\u679c\u6709\u7b14\u8bb0\u672c\u7684\u8bdd，\u4f1a\u6709\u4e00\u4e2a\u662f\u7b14\u8bb0\u672c\u7684，\u5982\u679c\u4f60\u4e0d\u60f3\u4f7f\u7528\u7b14\u8bb0\u672c\u7684\u6444\u50cf\u5934，\u90a3\u4f60\u5c31\u51c6\u5907\u4e24\u4e2a\u6444\u50cf\u5934，\u7136\u540e\u5c06\u4e24\u4e2a\u6444\u50cf\u5934\u7684\u586b\u8fdb\u53bb，\u5c31\u4e0d\u8981\u5c06\u7b14\u8bb0\u672c\u7684\u8f93\u5165\u3002\u7b14\u8bb0\u672c\u7684\u53ef\u80fd\u96be\u4ee5\u627e\u89d2\u5ea6，\u5bfc\u81f4\u73af\u5883\u5608\u6742\u3002<\/p>\n

#\u4ec5\u4ec5\u9065\u64cd\u4f5c，\u6ca1\u6709\u76f8\u673a\u3002
\npython lerobot\/scripts\/control_robot.py \\\\
\n –robot.type=so100 \\\\
\n –robot.cameras='{}' \\\\
\n –control.type=teleoperate<\/p>\n

\u901a\u8fc7\u8fd9\u6b65，\u4f60\u53ef\u4ee5\u770b\u770b\u4f60\u7684\u76f8\u673a\u7684\u89c6\u89d2\u662f\u5426\u5408\u7406，\u7136\u540e\u8c03\u6574\u3002<\/p>\n

\u8fd0\u884c\u9065\u63a7\u64cd\u4f5c，\u5e26\u76f8\u673a\u3002
\npython lerobot\/scripts\/control_robot.py \\\\
\n –robot.type=so100 \\\\
\n –control.type=teleoperate <\/p>\n<\/p>\n

\u70b9\u51fb\u4e0b\u9762\u8fd9\u4e2a\u94fe\u63a5\u53bb\u5230huggigface\u7684\u8bbe\u7f6e\u91cc\u9762\u3002<\/p>\n

https:\/\/huggingface.co\/settings\/tokens<\/p>\n

\u521b\u5efa\u4f60\u81ea\u5df1\u7684\u8d26\u53f7；\u70b9\u51fb\u5de6\u8fb9\u7684accesstokens，\u7136\u540e\u70b9\u51fb\u53f3\u8fb9\u7684create new token<\/p>\n

\"\"<\/p>\n

\u00a0\"\"\u50cf\u6211\u8fd9\u6837：\u52fe\u9009\u8fd9\u4e9b\u9009\u9879，\u5212\u62c9\u5230\u9875\u9762\u7684\u4e0b\u65b9\u521b\u5efa\u3002<\/p>\n

！！！！\u7136\u540e\u4f1a\u5f39\u51fa\u4e00\u4e2a\u754c\u9762\u3002\u4f60\u5c06\u5176\u590d\u5236\u4e0b\u6765，\u7136\u540e\u70b9\u51fbdone\u3002\u590d\u5236\u4e0b\u6765\u7684\u6700\u597d\u662f\u521b\u5efa\u4e00\u4e2a\u6587\u6863\u4fdd\u5b58\u4e0b\u6765，\u56e0\u4e3a\u4e4b\u540e\u4ed6\u5c31\u4e0d\u4f1a\u518d\u51fa\u73b0\u4e86！！！<\/p>\n<\/p>\n

\u767b\u9646huggingface ，token ${\u6362\u6210\u81ea\u5df1\u7684HUGGINGFACE_TOKEN} —
\nhuggingface-cli login –token hf_cTRIYuJHScbLXBpxalpqceANAecqGnxxxx –add-to-git-credential<\/p>\n

hf_cTRIYuJHScbLXBpxalpqceANAecqGnxxxx—–\u8fd9\u4e2a\u66ff\u6362\u6210\u4f60\u81ea\u5df1\u7684token<\/p>\n

\u7136\u540e\u5728\u7ec8\u7aef\u4e2d\u6267\u884c\u8fd9\u4e2a\u4e24\u4e2a\u6307\u4ee4<\/p>\n

HF_USER=$(huggingface-cli whoami | head -n 1)
\necho $HF_USER<\/p>\n

\u8bb0\u5f55\u4e24\u7ec4\u6570\u636e\u5e76\u4e0a\u4f20
\npython lerobot\/scripts\/control_robot.py \\\\
\n –robot.type=so100 \\\\
\n –control.type=record \\\\
\n –control.fps=30 \\\\
\n –control.single_task="Grasp a lego block and put it in the bin." \\\\
\n –control.repo_id=${HF_USER}\/so100_test112 \\\\
\n –control.tags='["so100","tutorial"]' \\\\
\n –control.warmup_time_s=5 \\\\
\n –control.episode_time_s=15 \\\\
\n –control.reset_time_s=10 \\\\
\n –control.num_episodes=2 \\\\
\n –control.push_to_hub=true <\/p>\n

—-\u00a0 –control.repo_id=${HF_USER}\/so100_test112 \\\\—–\u8fd9\u4e2a\u662f.cache\u6587\u4ef6\u5939\u4e0b\u7684\u8def\u5f84\u3002\u66f4\u6539\u4ee5\u653e\u7f6e\u5176\u4ed6\u7684\u8bad\u7ec3\u6570\u636e \u3002<\/p>\n

\u00a0–control.num_episodes=2 \\\\\u00a0\u00a0 \u8d8a\u5927\u8d8a\u82b1\u65f6\u95f4，\u4f46\u662f\u6548\u679c\u597d\u3002<\/p>\n<\/p>\n

\u63a5\u4e0b\u6765\u8bad\u7ec3\u4f60\u7684\u6570\u636e\u96c6\u5408\u3002<\/p>\n

python lerobot\/scripts\/train.py \\\\
\n –dataset.repo_id=${HF_USER}\/so100_test112 \\\\
\n –policy.type=act \\\\
\n –output_dir=outputs\/train\/act_so100_test112 \\\\
\n –job_name=act_so100_test112 \\\\
\n –policy.device=cuda \\\\
\n –wandb.enable=false
\n #####\u8fd9\u91cc\u6ca1\u6709\u4f7f\u7528wandb\u7684\u82b1，\u5c31\u6539\u6210false <\/p>\n

\u6ce8\u610f\u540d\u5b57\u8981\u5bf9\u4e0a\u5c31\u884c\u3002<\/p>\n

\u5728\u4f60\u81ea\u5df1\u8bad\u7ec3\u7684\u65f6\u5019，\u9ed8\u8ba4\u7684\u6b65\u957f\u4e3a10w，\u4f60\u53ef\u4ee5\u81ea\u5df1\u66f4\u6539，\u6b65\u957f\u5927\u6548\u679c\u597d，\u4f46\u662f\u4e5f\u4f1a\u66f4\u82b1\u65f6\u95f4\u66f4\u8017\u8d39\u8d44\u6e90\u6765\u8bad\u7ec3\u3002\u66f4\u591a\u7684\u8bad\u7ec3\u6b65\u6570\u80fd\u8ba9\u6a21\u578b\u66f4\u597d\u5730\u9002\u5e94\u4e0d\u540c\u7684\u73af\u5883\u548c\u4efb\u52a1\u8981\u6c42，\u4f7f\u7b56\u7565\u66f4\u52a0\u7a33\u5b9a\u548c\u6709\u6548\u3002\u5012\u662f\u4e0d\u7528\u62c5\u5fc3\u8fc7\u62df\u5408，\u56e0\u4e3a\u6539\u53d8\u4e00\u70b9\u7684\u73af\u5883\u4ed6\u5c31\u7528\u4e0d\u4e86\u4e86\u3002 \u5728 lerobot\/lerobot\/configs\/train.py \u6587\u4ef6\u4e2d，TrainPipelineConfig \u7c7b\u5bf9\u8bad\u7ec3\u76f8\u5173\u7684\u914d\u7f6e\u53c2\u6570\u8fdb\u884c\u4e86\u5b9a\u4e49，\u5176\u4e2d\u5c31\u5305\u542b\u4e86 steps \u53c2\u6570： \u00a0<\/p>\n

@dataclass
\nclass TrainPipelineConfig(HubMixin):
\n # … \u5176\u4ed6\u53c2\u6570 …
\n steps: int = 100_000
\n # … \u5176\u4ed6\u53c2\u6570 … <\/p>\n

\u5728\u7136\u540e\u8bc4\u4f30\u4e00\u4e0b\u3002<\/p>\n

python lerobot\/scripts\/control_robot.py \\\\
\n –robot.type=so100 \\\\
\n –control.type=record \\\\
\n –control.fps=30 \\\\
\n –control.single_task="Grasp a lego block and put it in the bin." \\\\
\n –control.repo_id=${HF_USER}\/eval_act_so100_test112 \\\\
\n –control.tags='["tutorial"]' \\\\
\n –control.warmup_time_s=5 \\\\
\n –control.episode_time_s=30 \\\\
\n –control.reset_time_s=30 \\\\
\n –control.num_episodes=10 \\\\
\n –control.push_to_hub=true \\\\
\n –control.policy.path=outputs\/train\/act_so100_test112\/checkpoints\/last\/pretrained_model
\n########\u8fd9\u91cc\u7684\u65f6\u95f4\u548c\u4e0a\u9762\u7684\u6ca1\u4ec0\u4e48\u5173\u8054，\u4f46\u662f\u4e5f\u53ef\u4ee5\u51cf\u5c0f\u4e3a\u4e86\u770b\u770b\u6548\u679c\u7684\u8bdd\u3002 <\/p>\n

！@！！！！！\u4ee5\u4e0a\u90fd\u662f\u57fa\u4e8e\u672c\u5730\u7684\u8bad\u7ec3\u3002<\/p>\n<\/p>\n

\u4e0b\u4e00\u7ae0\u662f\u5728\u4e91\u670d\u52a1\u5668\u4e0a\u7684\u8bad\u7ec3\u3002<\/p>\n

\u8fd9\u91cc\u662f\u4e00\u4e2a\u5de5\u5177\u5e93，\u53ef\u80fd\u4f1a\u5e2e\u52a9\u4f60\u89e3\u51b3\u4e00\u4e9b\u95ee\u9898\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014<\/p>\n

https:\/\/github.com\/NANBEI132\/cross-fire<\/p>\n","protected":false},"excerpt":{"rendered":"

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