Browse and Replay the Dataset

Visualize the entire dataset

https://huggingface.co/spaces/lerobot/visualize_dataset

http://io-ai.tech/lerobot

https://open.platform.io-ai.tech

Enter TommyZihao/lerobot_zihao_dataset_a, or another dataset

Observation: the action and the state are not identical; the action is provided by the leader arm (Leader), while the state is provided by the follower arm (Follower)

Visualize a specific episode

lerobot-dataset-viz --repo-id TommyZihao/lerobot_zihao_dataset_a --episode-index=2

Drag the timeline to view the camera feed and servo positions at any moment

Replay the follower arm motion of a specific episode

lerobot-replay \
    --robot.type=so101_follower \
    --robot.port=/dev/tty.usbmodem5AAF2193061 \
    --robot.id=my_follower_arm \
    --dataset.repo_id=Tommymy/lerobot_my_dataset_a \
    --dataset.episode=2

You will hear the voice Replaying episode, then the follower arm moves and replays the motion of the specified episode