Merge pull request #225 from tokk-nv/main

Add images to LeRobot tutorial

docs/lerobot.md

@@ -2,9 +2,7 @@
 
 Let's run HuggingFace [`LeRobot`](https://github.com/huggingface/lerobot/) to train Transformer-based [action diffusion](https://diffusion-policy.cs.columbia.edu/) policies and [ACT](https://github.com/tonyzhaozh/act) onboard NVIDIA Jetson.  These models learn to predict actions for a particular task from visual inputs and prior trajectories, typically collected during teleoperation or in simulation.
 
-<video controls autoplay muted style="max-width: 640px">
-    <source src="https://github.com/user-attachments/assets/1ec6e4f0-0f85-4a8a-85c0-f70019f3405b" type="video/mp4">
-</video>
+![alt text](images/lerobot_jetson_rig.png)
 
 !!! abstract "What you need"
 
@@ -44,6 +42,8 @@ This section gives the guide on how you can work through the LeRobot official ex
 
 ### a. Check `jetson-container`'s location 
 
+![alt text](images/lerobot_jetson_ssd.png){: style="height:240px;" align=right} 
+
 Through out the course of all the workflows of `lerobot`, we will be generating a lot of data, especially for capturing dataset.
 
 We will clone the `lerobot` directory on host and mount the directory in the container to keep all the data persistant, but first make sure your `jetson-containers` directory is placed on your SSD, not on your eMMC or microSD card.
@@ -180,6 +180,8 @@ lrwxrwxrwx 1 root root         7 Sep 24 16:13 /dev/ttyACM_kochleader -> ttyACM1
 
 ### e. (Optional) CSI cameras
 
+![alt text](images/lerobot_csi_camera.png){: style="height:240px;" align=right} 
+
 If you plan to use CSI cameras (not USB webcams) for data capture, you will use the new `--csi2webcam` options of `jetson-containers`, which exposes V4L2loopback devices that performs like USB webcams (MJPEG) for CSI cameras using Jetson's hardware JPEG encoder.
 
 This feature require some packages to be installed.
@@ -289,6 +291,25 @@ Follow the [official document's section](https://github.com/huggingface/lerobot/
 
     Another thing worth experimenting is the **wrist cam**. More to come later.
 
+!!! tip
+
+    Following commands are registered in Bash history inside the `lerobot` container.
+
+    ```bash
+    wandb login
+    export HF_USER=
+    python lerobot/scripts/control_robot.py record \
+      --robot-path lerobot/configs/robot/koch.yaml \
+      --fps 30 \
+      --root data \
+      --repo-id ${HF_USER}/koch_test_$(date +%Y%m%d_%H%M%S) \
+      --tags tutorial \
+      --warmup-time-s 5 \
+      --episode-time-s 30 \
+      --reset-time-s 30 \
+      --num-episodes 10
+    ```
+
 !!! tip
 
     If you plan to perfom training on a different machine, `scp` the dataset directory.
@@ -312,22 +333,17 @@ You should operate on ther container's terminal.
 Follow the [official document's section](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#4-train-a-policy-on-your-data).
 
 !!! tip
-
-    Following commands are registered in Bash history inside the `lerobot` container.
-
+
     ```bash
     wandb login
-    export HF_USER=
-    python lerobot/scripts/control_robot.py record \
-      --robot-path lerobot/configs/robot/koch.yaml \
-      --fps 30 \
-      --root data \
-      --repo-id ${HF_USER}/koch_test_$(date +%Y%m%d_%H%M%S) \
-      --tags tutorial \
-      --warmup-time-s 5 \
-      --episode-time-s 30 \
-      --reset-time-s 30 \
-      --num-episodes 10
+    DATA_DIR=data python lerobot/scripts/train.py \
+        dataset_repo_id=${HF_USER}/koch_test \
+        policy=act_koch_real \
+        env=koch_real \
+        hydra.run.dir=outputs/train/act_koch_test \
+        hydra.job.name=act_koch_test \
+        device=cuda \
+        wandb.enable=true
     ```
 
 !!! tip
@@ -371,6 +387,8 @@ Follow the [official document's section](https://github.com/huggingface/lerobot/
       --repo-id ${HF_USER}/eval_koch_test
     ```
 
+![alt text](images/lerobot_visuzalize_dataset_html.png)
+
 If everything goes well, you should see 
 
 <video controls autoplay muted style="max-width: 960px">