update some readme

realman.md

@@ -8,6 +8,8 @@ conda activate lerobot
 Install 🤗 LeRobot:
 ```bash
 pip install -e . -i https://pypi.tuna.tsinghua.edu.cn/simple
+pip install edge-tts
+sudo apt install mpv -y
 
 # pip uninstall numpy
 # pip install numpy==1.26.0
@@ -51,18 +53,19 @@ echo $HF_USER
 
 ```bash
 python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
+    --robot.type=realman \
     --robot.inference_time=false \
     --control.type=record \
-    --control.fps=30 \
+    --control.fps=15 \
     --control.single_task="move" \
-    --control.repo_id=${HF_USER}/test \
+    --control.repo_id=maic/test \
     --control.num_episodes=2 \
     --control.warmup_time_s=2 \
     --control.episode_time_s=10 \
     --control.reset_time_s=10 \
     --control.play_sounds=true \
-    --control.push_to_hub=false
+    --control.push_to_hub=false \
+    --control.display_data=true
 ```
 
 Press right arrow -> at any time during episode recording to early stop and go to resetting. Same during resetting, to early stop and to go to the next episode recording.  
@@ -104,22 +107,50 @@ python lerobot/scripts/train.py \
   --wandb.enable=true
 ``` 
 
+# FT smolvla
+python lerobot/scripts/train.py \
+ --dataset.repo_id=maic/move_the_bottle_into_ultrasonic_device_with_realman_single  \
+ --policy.path=lerobot/smolvla_base \
+ --output_dir=outputs/train/smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single \
+ --job_name=smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single  \
+ --policy.device=cuda  \
+ --wandb.enable=false \
+ --steps=200000 \
+ --batch_size=16
+
 
 # Inference
 还是使用control_robot.py中的record loop，配置 **--robot.inference_time=true** 可以将手柄移出。
 ```bash
 python lerobot/scripts/control_robot.py \
-    --robot.type=piper \
+    --robot.type=realman \
     --robot.inference_time=true \
     --control.type=record \
     --control.fps=30 \
-    --control.single_task="move" \
-    --control.repo_id=$USER/eval_act_jack \
+    --control.single_task="move the bottle into ultrasonic device with realman single" \
+    --control.repo_id=maic/move_the_bottle_into_ultrasonic_device_with_realman_single \
     --control.num_episodes=1 \
     --control.warmup_time_s=2 \
     --control.episode_time_s=30 \
     --control.reset_time_s=10 \
     --control.push_to_hub=false \
-    --control.policy.path=outputs/train/act_koch_pick_place_lego/checkpoints/latest/pretrained_model
+    --control.policy.path=outputs/train/act_move_the_bottle_into_ultrasonic_device_with_realman_single/checkpoints/100000/pretrained_model
 ```
 
+
+```bash
+python lerobot/scripts/control_robot.py     \
+--robot.type=realman     \
+--robot.inference_time=true     \
+--control.type=record     \
+--control.fps=30     \
+--control.single_task="move the bottle into ultrasonic device with realman single"     \
+--control.repo_id=maic/eval_smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single     \
+--control.num_episodes=1     \
+--control.warmup_time_s=2     \
+--control.episode_time_s=60     \
+--control.reset_time_s=10     \
+--control.push_to_hub=false     \
+--control.policy.path=outputs/train/smolvla_move_the_bottle_into_ultrasonic_device_with_realman_single/checkpoints/160000/pretrained_model \
+--control.display_data=true
+```