Interactive flow
- Choose whether to reuse saved Inference settings or provide new ones.
- Verify that the follower is calibrated; enable Teleop override if desired when the leader is calibrated.
- Authentication with HuggingFace is required (required to download remote models).
- Provide
policy_path(HuggingFace model ID or local path), task description, and duration. - Configure cameras (optional) and begin inference.
Tips/Notes
- When Teleop override is enabled, the policy is temporarily overridden by any movement of the leader arm.
- The keyboard controls for session management (→/←/ESC) are identical to those used during recording.
- Should ports change during operation, the tool will automatically detect the new ports and attempt to reconnect once.
Cameras and ports
- Ports: Auto-detection works on Windows and Unix. If
pyserialis missing, it is installed automatically. If the arm was already connected, you’ll be guided to unplug/replug to identify the correct port. - Cameras: Both OpenCV and RealSense cameras are supported. RealSense requires
pyrealsense2. You can map each camera to a viewing angle and pick which ones to display during Teleop/Record/Inference.
Troubleshooting
- Connection failed / wrong port: The tool will attempt to re-detect ports and retry once. If it still fails, unplug/replug each arm and re-run the mode.
- Dataset already exists: You will be prompted to resume or rename. Resuming continues appending episodes to the existing dataset.
- HuggingFace authentication required: Needed for downloading trained policies (Inference) and optionally for pushing datasets/models (Record/Train).
- Windows symlink warnings: Symlink warnings are suppressed for HF Hub downloads by the tool when needed.
- No cameras detected: You can proceed without cameras; functionality remains available.