Warning

The Interbotix ALOHA stack that has recently been updated to v2.0. A full announcement is coming soon.

Training and Evaluation

Virtual Environment Setup

Effective containerization is important when it comes to running machine learning models as there can be conflicting dependencies. You can either use a Virtual Environment or Conda.

Virtual Environment Installation and Setup

Install the virtual environment package:

$ sudo apt-get install python3-venv

Create a virtual environment:

$ python3 -m venv ~/act  # Creates a venv "act" in the home directory, can be created anywhere

Activate the virtual environment:

$ source act/bin/activate

Conda Setup

Create a virtual environment:

$ conda create -n aloha python=3.8.10

Activate the virtual environment:

$ conda activate aloha

Train and Evaluate

Depending upon the setup you are using

Hugging Face for Dataset storage

To understand how to utilize Hugging Face for Uploading and Downloading Datasets

Hugging Face Guide

LeRobot Guide for Aloha

To understand how to utilize LeRobot for Aloha use the below guide