Cool stuff. At my previous (startup / research) job I had to set up similar system (but with franka arm and multi view camera) alone because I was the only one with robotics background.
>I do not intend to calibrate the camera’s extrinsics or intrinsics for now.
Sensible choice, although I suggest it's good in the long run to do at early stage in your setup, especially if you intend to collect data for policy learning.
Debugging trained policies for visual manipulation task can be a headache and having as much context on variables that can change is a good practice.
My previous setup was in Japan, a earthquake prone place and I wasted some time after realizing the camera got misaligned due to earthquake. A simple solution is just to place an Aruco marker on the table that tracks the relative extrinsic position of camera, and add it as metadata to collected teleoperation dataset.
As impressive as this setup may be, I'm still amazed at how slow this type of robot is, whether amateur or professional grade.
I have no expertise in this field, but as an observer, the apparent progress in this area seems very limited.
I guess my expectations are too high and my understanding of the problems to solve is too low.
Hey this is cool! I am doing something similar myself with the SO101 arm robot from Robot Studio using a patchwork of my own code and LeRobot. Would love to collaborate with you if you are open to it. You can find me on Discord as `.avilay`. https://www.linkedin.com/posts/avilay_lerobot-huggingface-ro...
Would like to know your reasoning on not going with LeRobot.
Great article. I'll be following along. Would like to learn more about the robotics space.
- I've heard the advantage of ROS besides the architecture is the ecosystem (driver integrations, etc). Is that not an issue because the arm supports a Python SDK OOTB?
- Any issues you've been running into with this setup?
- How do you determine if a session recording is good enough for training? Is 50/100 samples really all you need?
Cool stuff. At my previous (startup / research) job I had to set up similar system (but with franka arm and multi view camera) alone because I was the only one with robotics background.
>I do not intend to calibrate the camera’s extrinsics or intrinsics for now.
Sensible choice, although I suggest it's good in the long run to do at early stage in your setup, especially if you intend to collect data for policy learning.
Debugging trained policies for visual manipulation task can be a headache and having as much context on variables that can change is a good practice.
My previous setup was in Japan, a earthquake prone place and I wasted some time after realizing the camera got misaligned due to earthquake. A simple solution is just to place an Aruco marker on the table that tracks the relative extrinsic position of camera, and add it as metadata to collected teleoperation dataset.
As impressive as this setup may be, I'm still amazed at how slow this type of robot is, whether amateur or professional grade. I have no expertise in this field, but as an observer, the apparent progress in this area seems very limited. I guess my expectations are too high and my understanding of the problems to solve is too low.
Hey this is cool! I am doing something similar myself with the SO101 arm robot from Robot Studio using a patchwork of my own code and LeRobot. Would love to collaborate with you if you are open to it. You can find me on Discord as `.avilay`. https://www.linkedin.com/posts/avilay_lerobot-huggingface-ro...
Would like to know your reasoning on not going with LeRobot.
Great article. I'll be following along. Would like to learn more about the robotics space.
- I've heard the advantage of ROS besides the architecture is the ecosystem (driver integrations, etc). Is that not an issue because the arm supports a Python SDK OOTB?
- Any issues you've been running into with this setup?
- How do you determine if a session recording is good enough for training? Is 50/100 samples really all you need?
This is really exciting. Incredible that you can do this for this budget at home. Unthinkable a couple years ago.