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Further Exploration

Once you're comfortable with setup, teleoperation, and dataset collection, you can dive deeper into more advanced and creative workflows using LeRobot.

Suggested Experiments​

  • Try collecting demonstrations for tasks beyond block picking (e.g., stacking, sorting).
  • Explore use of dynamic grippers or more complex manipulators.
  • Introduce distractors or obstacles and test policy robustness.

Multimodal Data Collection​

  • Add more camera angles (top-down, wrist-mounted) and use them in training.

Alternative Leader Inputs​

  • Try joystick control or keyboard teleoperation.
  • Use other sensor-based arms or even VR input for richer demonstrations.

Train Your Own Policy​

  • Swap in different learning algorithms (BC, Dagger, etc.).
  • Run ablation studies on camera resolutions, frame rate, or policy architecture.

Contribute Back​

  • Publish your datasets to the Hugging Face Hub.
  • Share your trained models and policies.
  • Document hardware modifications for others.