Train

Training is LeRobot’s job. Rosetta doesn’t add anything here.

lerobot-train \
    --dataset.repo_id=my_org/my_dataset \
    --dataset.root=datasets/lerobot/my_org/my_dataset \
    --policy.type=act \
    --output_dir=outputs/train/my_policy \
    --policy.device=cuda

Drop --dataset.root to train from a dataset on the Hugging Face Hub. The policy runner loads the checkpoint at outputs/train/my_policy/checkpoints/last/pretrained_model.

The LeRobot training guide covers policies, resuming, multi-GPU and pushing checkpoints to the Hub.