diff --git a/README.md b/README.md
index c57511d..99cd6e6 100644
--- a/README.md
+++ b/README.md
@@ -4,17 +4,41 @@
UFACTORY robot arm integration with the LeRobot framework for robot learning, data collection, and policy deployment.
-Reference project: [ufactory_teleop](https://github.com/xArm-Developer/ufactory_teleop)
+## Training & Inference Results
+
+[Test datasets](https://drive.google.com/drive/folders/1Ms25rd2YYGdh3tHPEsTTMU-m1fE7uNYY) used during development, **for reference only, do NOT reuse**. As the robot arm and camera positions during development differ from user setups.
+
+
## Features
-- xArm robot control (xArm series)
-- Multiple teleop modes: GELLO / Pika / UMI / SpaceMouse
-- Multi-camera data collection (RealSense / UMI camera)
-- Dataset recording & management (LeRobot-compatible)
-- Imitation learning training (ACT / Diffusion Policy / etc.)
-- Policy evaluation & real-time inference
-- Mock mode (no physical robot needed)
+- 🤖 UFACTORY robot control ([xArm series](https://www.ufactory.cc/))
+- 🎮 Multiple teleop modes: GELLO / [Pika](https://global.agilex.ai/products/pika) / [UMI](https://lumosumi.lumosbot.tech/pro/) / [SpaceMouse](https://3dconnexion.com/sg/product/spacemouse-wireless/)
+- 📷 Multi-camera data collection ([RealSense](https://www.realsenseai.com/products/depth-camera-d435i/) / UMI camera)
+- 📊 Dataset recording & management (LeRobot-compatible)
+- 🧠 Imitation learning training (ACT / Diffusion Policy / etc.)
+- 🚀 Policy evaluation & real-time inference
+- 🔧 Mock mode (teleop device only, no physical robot needed)
## Requirements
@@ -48,6 +72,8 @@ Peripheral dependencies are available as optional extras via `[module]` install.
#### GELLO Teleop
Dynamixel-based leader arm, joint-space control.
+* Once data collection starts, the **relative position** between the robot arm and camera (D435 / D435i) **must remain unchanged**.
+* The camera position during inference must match the collection setup. If the robot arm or camera changes, previously collected data becomes invalid.
```bash
# 1. Install GELLO module
@@ -59,7 +85,9 @@ sudo usermod -aG dialout $USER
#### Pika Teleop
-Pika Sense handheld + Vive Tracker, task-space control.
+Pika Sense handheld + Vive Tracker, Cartesian-space control.
+* No requirement for the relative position of the two base stations and the robot arm. Only need to ensure the Pika Sense is within base station range during collection, but **base stations must be recalibrated after moving**.
+* Base station positions for collection and inference do not need to be the same.
```bash
# 1. Install peripheral deps (skip transitive deps)
@@ -122,8 +150,12 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
Test teleop-to-robot control loop without recording.
```bash
+# Generic usage
uf-robot-teleop -c path/to/config.yaml
uf-robot-teleop -c path/to/config.yaml -f 60 # specify frequency
+
+# Example: xArm6 + UMI teleop
+uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml
```
### 2. Data Collection
@@ -131,8 +163,12 @@ uf-robot-teleop -c path/to/config.yaml -f 60 # specify frequency
Record datasets via teleop.
```bash
+# Generic usage
uf-lerobot-record -c path/to/record_config.yaml
uf-lerobot-record -c path/to/config.yaml --resume # resume recording
+
+# Example: xArm6 + UMI data collection
+uf-lerobot-record -c config/umi/xarm6_umi_record_config.yaml
```
### 3. Policy Training
@@ -140,18 +176,47 @@ uf-lerobot-record -c path/to/config.yaml --resume # resume recording
Train imitation learning policies on collected data.
```bash
+# Generic usage
lerobot-train --policy act --dataset your_dataset_name
+
+# Example: train ACT on xArm6 UMI dataset
+lerobot-train --policy act --dataset ufactory/xarm6_umi_datas
```
-### 4. Policy Evaluation
-
-Evaluate trained policies.
+Important parameters:
```bash
-uf-lerobot-eval -c path/to/eval_config.yaml
+# Note: repo_id is the same as in the record config
+# Policy type: ACT, training steps: 800k
+# Checkpoints saved every 20k steps, output to lerobot_datas/train (sibling of lerobot directory)
+lerobot-train \
+ --dataset.root=../../../../lerobot_datas/record/ufactory/xarm6_umi_datas \
+ --dataset.repo_id=ufactory/xarm6_umi_datas \
+ --policy.type=act \
+ --policy.device=cuda \
+ --policy.repo_id=ufactory/xarm6_umi_datas \
+ --output_dir=../../../../lerobot_datas/train/xarm6_umi_datas \
+ --job_name=xarm6_umi_datas \
+ --steps=800000 \
+ --batch_size=8 \
+ --save_freq=20000
```
-### 5. Camera Viewer
+### 4. Inference & Evaluation
+
+Run inference with a trained policy.
+
+```bash
+# Generic usage
+uf-lerobot-eval -c path/to/config.yaml --policy.path your_train_path
+
+# Example: run inference with trained ACT policy
+uf-lerobot-eval -c config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
+```
+
+## Tools
+
+### 1. Camera Viewer
View and stitch multiple camera feeds.
@@ -163,18 +228,45 @@ uf-camera-view -T xvisio -W 640 -H 1920 -F NV12 # specify format
uf-camera-view -T other # view other camera types
```
-### Mock Mode (no physical robot)
+### 2. LeRobot Dataset Tools
-```yaml
-type: "uf::mock_robot" # single arm simulation
-type: "uf::multiple_mock_robot" # dual arm simulation
+LeRobot provides dataset utilities for inspecting, editing and managing collected datasets.
+
+#### View an episode:
+e.g. view episode index 17:
+```bash
+lerobot-dataset-viz \
+ --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
+ --repo-id ufactory/xarm7_record_datas \
+ --display-compressed-images true \
+ --episode-index 17
+```
+
+#### Delete specific episodes:
+e.g. delete episodes 18 and 19:
+```bash
+lerobot-edit-dataset \
+ --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
+ --repo_id ufactory/xarm7_record_datas \
+ --new_repo_id ../xarm7_record_datas_new \
+ --operation.type delete_episodes \
+ --operation.episode_indices "[18, 19]"
+```
+
+#### Merge datasets:
+```bash
+lerobot-edit-dataset \
+ --root=../../../../lerobot_datas/record \
+ --repo_id ufactory/xarm7_record_datas_merge_1_2 \
+ --operation.type merge \
+ --operation.repo_ids "['ufactory/xarm7_record_datas_1', 'ufactory/xarm7_record_datas_2']"
```
## Teleop Comparison
| Feature | GELLO | Pika | UMI | SpaceMouse |
|---------|-------|------|-----|------------|
-| Control space | Joint space | Task space | Task space | Task space |
+| Control space | Joint space | Cartesian space | Cartesian space | Cartesian space |
| Tracking | Dynamixel servos | Vive Tracker | UMI SLAM / Vive | 3D mouse |
| Dual-arm | ❌ | ❌ | ✅ | ❌ |
| System dep | dialout group | — | XVSDK deb | — |
@@ -188,7 +280,6 @@ ufactory_lerobot/
│ │ ├── robots/ # Robot control
│ │ │ ├── uf_robot/ # xArm physical robot
│ │ │ ├── uf_mock_robot/ # Mock robot simulator
-│ │ │ └── utils.py # make_robot_from_config patch
│ │ ├── teleoperators/ # Teleop drivers
│ │ │ ├── gello_teleop/ # GELLO (Dynamixel leader)
│ │ │ ├── pika_teleop/ # Pika Sense (handheld + Vive)
@@ -203,20 +294,27 @@ ufactory_lerobot/
│ │ │ ├── uf_robot_teleop.py # Teleop testing
│ │ │ ├── uf_lerobot_record.py # Data recording
│ │ │ ├── uf_lerobot_eval.py # Policy evaluation
-│ │ │ ├── uf_camera_view.py # camera viewer tool
+│ │ │ ├── uf_camera_view.py # Camera viewer tool
│ │ │ └── vive_calibrate.py # Vive Tracker calibration
│ │ └── utils/ # Utilities
-│ ├── rules/ # udev device rules
-│ └── xvsdk/ # XVSDK system dependency
├── config/ # YAML config files
│ ├── gello/
│ ├── pika/
│ ├── umi/
│ └── spacemouse/
+├── rules/ # udev device rules
+├── xvsdk/ # XVSDK system dependency
├── pyproject.toml
-└── LICENSE
+└── README.md
```
+## Important Notes
+
+Users are expected to thoroughly study the codebase and configuration parameters.
+The provided configurations are **not guaranteed to work for all scenarios** and must be adjusted based on actual hardware setups and task requirements.
+
+In particular, for **diffusion policies**, the default parameters in LeRobot are primarily designed for simulation and **are not optimized for real-world robots**.
+
## License
This project is released under the Apache License 2.0. See [LICENSE](LICENSE).
diff --git a/README_ZH.md b/README_ZH.md
index 39a237f..16a4484 100644
--- a/README_ZH.md
+++ b/README_ZH.md
@@ -2,13 +2,39 @@
> [English Version](README.md)
-UFACTORY 机械臂与 LeRobot 框架集成项目，支持多种遥操作方式的数据采集、策略训练和部署推理。
+UFACTORY(深圳市众为创造科技有限公司) 机械臂与 LeRobot 框架集成项目，支持多种遥操作方式的数据采集、策略训练和部署推理。
+
+## 训练推理效果
+
+点击下载开发时[采集的数据集](https://drive.google.com/drive/folders/1Ms25rd2YYGdh3tHPEsTTMU-m1fE7uNYY)，**仅供参考，不可复用**。因为用户机械臂和摄像头位置和开发测试时不一致。
+
+
## 功能特性
-- 🤖 UFACTORY 机械臂控制（xArm 系列）
-- 🎮 多种遥操作方式：GELLO / Pika / UMI / SpaceMouse
-- 📷 多摄像头数据采集（RealSense / UMI 相机）
+- 🤖 UFACTORY 机械臂控制（[xArm 系列](https://www.ufactory.cc/)）
+- 🎮 多种遥操作方式：GELLO / [Pika](https://global.agilex.ai/products/pika) / [UMI](https://lumosumi.lumosbot.tech/pro/) / [SpaceMouse](https://3dconnexion.com/sg/product/spacemouse-wireless/)
+- 📷 多摄像头数据采集（[RealSense](https://www.realsenseai.com/products/depth-camera-d435i/) / UMI 相机）
- 📊 数据集录制与管理（兼容 LeRobot 格式）
- 🧠 模仿学习训练（ACT / Diffusion Policy 等）
- 🚀 策略评估与实时推理
@@ -46,6 +72,8 @@ pip install -e .
#### GELLO 遥操作
适用于 GELLO 示教臂（Dynamixel 舵机方案），控制空间为关节空间。
+* 一旦开始数据采集，机械臂与摄像头（D435 / D435i）的**相对位置必须保持不变**。
+* 推理时的摄像头位置必须与采集时相同。若机械臂或摄像头发生变化，此前采集的数据将无效。
```bash
# 1. 安装 GELLO 模块
@@ -58,6 +86,8 @@ sudo usermod -aG dialout $USER
#### Pika 遥操作
适用于 Pika Sense 手持示教器 + Vive Tracker，控制空间为笛卡尔空间。
+* 两个基站和机械臂相对位置没有要求，只需要保证采集时pika sense在基站范围内，但**基站移动后需要重新校准**。
+* 采集和推理时基站位置可不相同。
```bash
# 1. 安装外设依赖（不需要它们的间接依赖）
@@ -112,7 +142,6 @@ sudo cp rules/*.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
```
-
## 使用
### 1. 遥操作测试
@@ -120,8 +149,12 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
测试遥操作设备与机械臂的联动，不录制数据。
```bash
+# 通用格式
uf-robot-teleop -c path/to/config.yaml
uf-robot-teleop -c path/to/config.yaml -f 60 # 指定频率
+
+# 示例：xArm6 + UMI 遥操作
+uf-robot-teleop -c config/umi/xarm6_umi_record_config.yaml
```
### 2. 数据采集
@@ -129,36 +162,107 @@ uf-robot-teleop -c path/to/config.yaml -f 60 # 指定频率
通过遥操作录制数据集。
```bash
+# 通用格式
uf-lerobot-record -c path/to/record_config.yaml
uf-lerobot-record -c path/to/config.yaml --resume # 续录
+
+# 示例：xArm6 + UMI 数据采集
+uf-lerobot-record -c config/umi/xarm6_umi_record_config.yaml
```
-### 3. 策略训练
+### 3. Lerobot训练
采集数据后，使用 LeRobot 训练管道进行模仿学习训练。
```bash
+# 通用格式
lerobot-train --policy act --dataset your_dataset_name
```
-### 4. 策略评估
+参数示例：
```bash
-uf-lerobot-eval -c path/to/eval_config.yaml
+# 注意: repo_id就是采集时配置文件里面的repo_id
+# 这里训练策略policy.type选用act，训练steps为80w次
+# 训练过程每2w次保存一次结果，结果输出到和lerobot同级目录下的lerobot_datas/train里面
+lerobot-train \
+ --dataset.root=../../../../lerobot_datas/record/ufactory/xarm6_umi_datas \
+ --dataset.repo_id=ufactory/xarm6_umi_datas \
+ --policy.type=act \
+ --policy.device=cuda \
+ --policy.repo_id=ufactory/xarm6_umi_datas \
+ --output_dir=../../../../lerobot_datas/train/xarm6_umi_datas \
+ --job_name=xarm6_umi_datas \
+ --steps=800000 \
+ --batch_size=8 \
+ --save_freq=20000
```
-### Mock 模式（无实体机械臂）
+### 4. 推理
-```yaml
-type: "uf::mock_robot" # 单臂模拟
-type: "uf::multiple_mock_robot" # 双臂模拟
+指定模型进行推理
+
+```bash
+# 通用格式
+uf-lerobot-eval -c path/to/config.yaml --policy.path your_train_path
+
+# 示例：使用训练好的 ACT 策略进行推理
+uf-lerobot-eval -c config/umi/xarm6_umi_record_config.yaml --policy.path ../../../../lerobot_datas/train/xarm6_umi_datas/checkpoints/last/pretrained_model/
```
+## 工具集
+
+### 1. 摄像头查看器
+
+查看和拼接多路摄像头画面。
+
+```bash
+uf-camera-view -l # 列出所有摄像头
+uf-camera-view -l -T xvisio # 仅列出 XVisio 摄像头
+uf-camera-view -T xvisio # 查看 XVisio 摄像头（默认 1280x1280 YU12）
+uf-camera-view -T xvisio -W 640 -H 1920 -F NV12 # 指定格式
+uf-camera-view -T other # 查看其他类型摄像头
+```
+
+### 2. Lerobot数据集工具
+Lerobot提供一些数据集工具，方便对采集的数据集进行增删查操作。
+
+### 查看某个索引的episode:
+例如查看索引号为17的episode:
+```bash
+lerobot-dataset-viz \
+ --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
+ --repo-id ufactory/xarm7_record_datas \
+ --display-compressed-images true \
+ --episode-index 17
+```
+
+### 删除某些索引的episodes:
+例如删除索引号为18和19的episode:
+```bash
+lerobot-edit-dataset \
+ --root=../../../../lerobot_datas/record/ufactory/xarm7_record_datas \
+ --repo_id ufactory/xarm7_record_datas \
+ --new_repo_id ../xarm7_record_datas_new \
+ --operation.type delete_episodes \
+ --operation.episode_indices "[18, 19]"
+```
+
+### 合并数据集
+```bash
+lerobot-edit-dataset \
+ --root=../../../../lerobot_datas/record \
+ --repo_id ufactory/xarm7_record_datas_merge_1_2 \
+ --operation.type merge \
+ --operation.repo_ids "['ufactory/xarm7_record_datas_1', 'ufactory/xarm7_record_datas_2']"
+```
+
+
## 遥操作方式对比
| 特性 | GELLO | Pika | UMI | SpaceMouse |
|------|-------|------|-----|------------|
-| 控制空间 | 关节空间 | 任务空间 | 任务空间 | 任务空间 |
+| 控制空间 | 关节空间 | 笛卡尔空间 | 笛卡尔空间 | 笛卡尔空间 |
| 跟踪方式 | Dynamixel 舵机 | Vive Tracker | UMI SLAM / Vive | 3D 鼠标 |
| 双臂支持 | ❌ | ❌ | ✅ | ❌ |
| 系统依赖 | dialout 组 | — | XVSDK deb | — |
@@ -200,6 +304,11 @@ ufactory_lerobot/
└── README.md
```
+## 重要提示
+用户需要全面研究整个代码库，并了解相关的配置参数，因为代码中所写的配置并非适用于所有使用场景和设置，所以用户需要研究代码或相关理论，以获取相关知识，并自行进行修改和调整。特别是对于扩散策略(diffusion policy)，LeRobot 中的默认参数可能仅用于模拟，并未针对实际机器人场景进行优化。
+
+
## 许可证
本项目基于 Apache License 2.0 发布，详见 [LICENSE](LICENSE) 文件。
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