From eb281532416f6d7e90718f74e5f9886455fd1e4b Mon Sep 17 00:00:00 2001 From: Rhythm Syed Date: Fri, 14 Mar 2025 02:22:12 -0400 Subject: [PATCH 1/3] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 29c5778..a6e3627 100644 --- a/README.md +++ b/README.md @@ -38,6 +38,7 @@ We use [uv](https://docs.astral.sh/uv/) to manage Python dependencies. See the [ ```bash GIT_LFS_SKIP_SMUDGE=1 uv sync +GIT_LFS_SKIP_SMUDGE=1 uv pip install -e . ``` NOTE: `GIT_LFS_SKIP_SMUDGE=1` is needed to pull LeRobot as a dependency. From f37e6dd7fb6435480425bfef95726621314dc19e Mon Sep 17 00:00:00 2001 From: Rhythm Syed Date: Fri, 14 Mar 2025 02:41:27 -0400 Subject: [PATCH 2/3] Update README.md --- examples/aloha_real/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/aloha_real/README.md b/examples/aloha_real/README.md index 3addd4f..1714300 100644 --- a/examples/aloha_real/README.md +++ b/examples/aloha_real/README.md @@ -28,7 +28,7 @@ uv pip sync examples/aloha_real/requirements.txt uv pip install -e packages/openpi-client # Run the robot -python examples/aloha_real/main.py +python -m examples.aloha_real.main ``` Terminal window 2: @@ -123,4 +123,4 @@ This task involves opening a tupperware filled with food and pouring the content We provide the [pi0_aloha_pen_uncap config](../../src/openpi/training/config.py) as an example. You should refer to the root [README](../../README.md) for how to run training with the new config. -IMPORTANT: Our base checkpoint includes normalization stats from various common robot configurations. When fine-tuning a base checkpoint with a custom dataset from one of these configurations, we recommend using the corresponding normalization stats provided in the base checkpoint. In the example, this is done by specifying the trossen asset_id and a path to the pretrained checkpoint’s asset directory within the AssetsConfig. \ No newline at end of file +IMPORTANT: Our base checkpoint includes normalization stats from various common robot configurations. When fine-tuning a base checkpoint with a custom dataset from one of these configurations, we recommend using the corresponding normalization stats provided in the base checkpoint. In the example, this is done by specifying the trossen asset_id and a path to the pretrained checkpoint’s asset directory within the AssetsConfig. From bb7a3b4a3eaf8a7b2bdec2d6e40202fe2c34bc3b Mon Sep 17 00:00:00 2001 From: Rhythm Syed Date: Fri, 14 Mar 2025 11:19:11 -0400 Subject: [PATCH 3/3] Update README.md --- examples/aloha_real/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/aloha_real/README.md b/examples/aloha_real/README.md index 1714300..66fd836 100644 --- a/examples/aloha_real/README.md +++ b/examples/aloha_real/README.md @@ -34,7 +34,7 @@ python -m examples.aloha_real.main Terminal window 2: ```bash -roslaunch --wait aloha ros_nodes.launch +roslaunch aloha ros_nodes.launch ``` Terminal window 3: