How to train a robotics AI model with a dataset?
To train an AI model for your robot, you need a robotics dataset. For that, you need to have first recorded a dataset.
phospho-ai/so100-tictactoe
You can fine-tune Nvidia GR00T-N1-2B on your dataset right from the phosphobot dashboard. This is the easiest way to train a AI robotics model.
Garbage in, garbage out. Our tests show that training works with about 30 episodes. It’s better for the task to be specific. Have good lighting and similar setup.
PLB/simple-lego-pickup-mono-2
).Your trained model is uploaded to HuggingFace on the phospho-app account. Its name is something like phospho-app/YOUR_DATASET_NAME-A_RANDOM_ID
.
Next up, you can start controlling your robot with the trained model.
Advanced training options
You can add you Weights & Biases token to track your training metrics. Go to the Admin Settings tab and add your WandB token (get your token here).
You can also tweak the training parameters. To do so, you must have your phosphobot server running and being logged in in your dashboard. Then, use the /training/start-training endpoint to pass more training parameters.
The ACT model is a transformer-based model that learns to chunk actions in a sequence. It is trained on a dataset of action sequences and their corresponding chunked actions.
LeRobot is a research-oriented library by Hugging Face that provides a simple interface to train AI models. It is still a work in progress, but it is already very powerful.
Follow our guide to train the ACT model on your dataset.
Train your ACT model with LeRobot
Pi0 is a powerful VLA (Vision Language Action model) by Physical Intelligence. They released an open weight model that can be trained on your own dataset.
To train the Pi0 model, you need to use the openpi repository with a few tweaks for the SO-100 robot arm compatibility. We added support for the SO-100 arm in this fork of the openpi repository.
src/openpi/training/config.py
to change the dataset to your own.By default, the training config uses the PLB/Orange-brick-in-black-box
SO-100 dataset.
Make sure you dataset has a correct task description for each task in the
dataset. Eg: in the PLB/Orange-brick-in-black-box
dataset, it’s “Put the
orange brick in the black pot”
You need a GPU with at least 70GB of memory to train the pi0 model. We recommend using a A100 (80GB) or a H100.
Test the model you just trained on your robot. See the Use AI models page for more information.
Let a trained AI model control your robot
How to train a robotics AI model with a dataset?
To train an AI model for your robot, you need a robotics dataset. For that, you need to have first recorded a dataset.
phospho-ai/so100-tictactoe
You can fine-tune Nvidia GR00T-N1-2B on your dataset right from the phosphobot dashboard. This is the easiest way to train a AI robotics model.
Garbage in, garbage out. Our tests show that training works with about 30 episodes. It’s better for the task to be specific. Have good lighting and similar setup.
PLB/simple-lego-pickup-mono-2
).Your trained model is uploaded to HuggingFace on the phospho-app account. Its name is something like phospho-app/YOUR_DATASET_NAME-A_RANDOM_ID
.
Next up, you can start controlling your robot with the trained model.
Advanced training options
You can add you Weights & Biases token to track your training metrics. Go to the Admin Settings tab and add your WandB token (get your token here).
You can also tweak the training parameters. To do so, you must have your phosphobot server running and being logged in in your dashboard. Then, use the /training/start-training endpoint to pass more training parameters.
The ACT model is a transformer-based model that learns to chunk actions in a sequence. It is trained on a dataset of action sequences and their corresponding chunked actions.
LeRobot is a research-oriented library by Hugging Face that provides a simple interface to train AI models. It is still a work in progress, but it is already very powerful.
Follow our guide to train the ACT model on your dataset.
Train your ACT model with LeRobot
Pi0 is a powerful VLA (Vision Language Action model) by Physical Intelligence. They released an open weight model that can be trained on your own dataset.
To train the Pi0 model, you need to use the openpi repository with a few tweaks for the SO-100 robot arm compatibility. We added support for the SO-100 arm in this fork of the openpi repository.
src/openpi/training/config.py
to change the dataset to your own.By default, the training config uses the PLB/Orange-brick-in-black-box
SO-100 dataset.
Make sure you dataset has a correct task description for each task in the
dataset. Eg: in the PLB/Orange-brick-in-black-box
dataset, it’s “Put the
orange brick in the black pot”
You need a GPU with at least 70GB of memory to train the pi0 model. We recommend using a A100 (80GB) or a H100.
Test the model you just trained on your robot. See the Use AI models page for more information.
Let a trained AI model control your robot