Motus

Environment Setup

[TODO]

Generate RoboSynChallenge Data

See Collect Data Section for more details.

Prepare Motus Data for Training

[TODO]

RoboSynChallenge depends on the EmbodiChain emulator, which by default only supports acquiring Lerobot 3.0 data. We provide a script to convert Lerobot data to Motus data; this script is located in xxx.

Usage examples:

If you want to train on multiple datasets together (e.g., multi-task, mixed training with simulated and real data), merge them with the lerobot-edit-dataset tool or launch/collect_combined_dataset.sh before placing the result in this policy’s training data folder.

After preparing the data in motus format, create the training_data folders in the policy/motus directory:

mkdir training_data

Then copy all the data you wish to use for training into training_data/.

Finetune model

[TODO]

Eval on RoboSynChallenge

[TODO] The evaluation results, including videos, will be saved in the eval_result/{task_name}/motus/{setting}/{train_config_name}/{model_name}/{checkpoint_id}/ directory under the project root.