{"id":466,"date":"2025-08-16T18:32:42","date_gmt":"2025-08-16T09:32:42","guid":{"rendered":"https:\/\/momoi.org\/?page_id=466"},"modified":"2025-08-16T18:32:42","modified_gmt":"2025-08-16T09:32:42","slug":"%e5%ad%a6%e7%bf%92%e7%b7%a8","status":"publish","type":"page","link":"https:\/\/momoi.org\/?page_id=466","title":{"rendered":"\u5b66\u7fd2\u7de8"},"content":{"rendered":"\n<p>\u30a2\u30fc\u30e0\u306e\u7d44\u307f\u7acb\u3066\u304b\u3089\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u307e\u3067\u3001\u9806\u8abf\u306b\u9032\u3093\u3067\u304d\u307e\u3057\u305fLeRobot\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3002\u4eca\u56de\u306f\u3001<strong>\u30a2\u30fc\u30e0\u306b\u52d5\u304d\u3092\u6559\u3048\u308b\u5b66\u7fd2\u30d5\u30a7\u30fc\u30ba<\/strong>\u306b\u7a81\u5165\u3057\u307e\u3059\uff01<\/p>\n\n\n\n<p>\u4eca\u56de\u306f <strong>ACT (Action Chunking with Transformers)<\/strong> \u3068\u3044\u3046\u624b\u6cd5\u3092\u4f7f\u3063\u3066\u3001\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306b\u52d5\u304d\u3092\u5b66\u7fd2\u3055\u305b\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u8a18\u9332<\/strong><\/h2>\n\n\n\n<p>\u30ed\u30dc\u30c3\u30c8\u306b\u52d5\u304d\u3092\u899a\u3048\u3066\u3082\u3089\u3046\u306b\u306f\u3001\u307e\u305a\u304a\u624b\u672c\u3068\u306a\u308b\u52d5\u4f5c\u30c7\u30fc\u30bf\u304c\u5fc5\u8981\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u305d\u306e\u305f\u3081\u3001leader\u30a2\u30fc\u30e0\u3092\u4f7f\u7528\u3057\u305f\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u30a2\u30fc\u30e0\u3092\u52d5\u304b\u3057\u306a\u304c\u3089\u3001\u30ab\u30e1\u30e9\u6620\u50cf\uff0b\u95a2\u7bc0\u89d2\u5ea6\u3084\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u4f4d\u7f6e\u306a\u3069\u3092\u30bb\u30c3\u30c8\u3067\u8a18\u9332\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1. \u8a18\u9332\u74b0\u5883\u306e\u6e96\u5099<\/strong><\/h3>\n\n\n\n<p>\u4eca\u56de\u306e\u30bf\u30b9\u30af\u306f\u300c<strong>\u30da\u30f3\u3092\u63b4\u3093\u3067\u30b3\u30c3\u30d7\u306e\u4e2d\u306b\u5165\u308c\u308b<\/strong>\u300d\u3067\u3059\u3002\u3053\u306e\u8907\u96d1\u306a\u52d5\u304d\u3092\u5b66\u7fd2\u3055\u305b\u308b\u305f\u3081\u306b\u3001\u3088\u308a\u591a\u304f\u306e\u60c5\u5831\u304c\u5fc5\u8981\u3068\u306a\u308a\u307e\u3059\u3002\u4eca\u56de\u306f\u30012\u3064\u306e\u30ab\u30e1\u30e9\u3092\u4f7f\u7528\u3057\u3066\u3001\u7570\u306a\u308b\u8996\u70b9\u304b\u3089\u30c7\u30fc\u30bf\u3092\u8a18\u9332\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u30ab\u30e1\u30e91\uff1a\u30a2\u30fc\u30e0\u306e\u5148\u7aef\u304c\u898b\u3048\u308b\u3088\u3046\u306b\u53d6\u308a\u4ed8\u3051\u3001\u624b\u5143\u306e\u52d5\u304d\u3092\u6349\u3048\u307e\u3059<\/li>\n\n\n\n<li>\u30ab\u30e1\u30e92\uff1a\u4e0a\u304b\u3089\u5168\u4f53\u3092\u6349\u3048\u3001\u30da\u30f3\u3068\u30b3\u30c3\u30d7\u306e\u4f4d\u7f6e\u95a2\u4fc2\u3092\u628a\u63e1\u3057\u307e\u3059<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"771\" height=\"1024\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/env-771x1024.jpg\" alt=\"\" class=\"wp-image-467\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/env-771x1024.jpg 771w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/env-226x300.jpg 226w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/env-768x1020.jpg 768w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/env-1157x1536.jpg 1157w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/env-1542x2048.jpg 1542w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/env-scaled.jpg 1928w\" sizes=\"auto, (max-width: 771px) 100vw, 771px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"771\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/camera-1024x771.jpg\" alt=\"\" class=\"wp-image-468\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/camera-1024x771.jpg 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/camera-300x226.jpg 300w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/camera-768x578.jpg 768w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/camera-1536x1157.jpg 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/camera-2048x1542.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n<\/div>\n\n\n\n<p>\u4f7f\u7528\u3067\u304d\u308b\u30ab\u30e1\u30e9\u3084id\u306a\u3069\u306f`lerobot-find-cameras opencv`\u30b3\u30de\u30f3\u30c9\u3067\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u307e\u305f\u3001\u4e8b\u524d\u306b\u3001huggingface\u306e\u30c8\u30fc\u30af\u30f3\u3082\u767b\u9332\u3057\u3066\u304a\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2. \u8a18\u9332\u958b\u59cb<\/strong><\/h3>\n\n\n\n<p>\u30ab\u30e1\u30e9\u304c\u63a5\u7d9a\u306a\u3069\u306e\u524d\u6e96\u5099\u304c\u3067\u304d\u305f\u3089\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u8a18\u9332\u3092\u958b\u59cb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>lerobot-record \\\n\n\u00a0 \u00a0 --robot.type=so101_follower \\\n\n\u00a0 \u00a0 --robot.port=\/dev\/ttyACM\u6570\u5b57 \\\n\n\u00a0 \u00a0 --robot.id=follower\u306e\u4efb\u610f\u306e\u540d\u524d \\\n\n\u00a0 \u00a0 --robot.cameras=\"{\n\n\u00a0 \u00a0 top: {type: opencv, index_or_path: \/dev\/video0, width: 640, height: 480, fps: 30},\n\n\u00a0 \u00a0 arm: {type: opencv, index_or_path: \/dev\/video3, width: 640, height: 480, fps: 30}\n\n\u00a0 \u00a0 }\" \\\n\n\u00a0 \u00a0 --teleop.type=so101_leader \\\n\n\u00a0 \u00a0 --teleop.port=\/dev\/ttyACM\u6570\u5b57 \\\n\n\u00a0 \u00a0 --teleop.id=leader\u306e\u4efb\u610f\u306e\u540d\u524d \\\n\n\u00a0 \u00a0 --display_data=true \\\n\n\u00a0 \u00a0 --dataset.repo_id=${HF_USER}\/\u30c7\u30fc\u30bf\u3092\u8a18\u9332\u3059\u308b\u30ea\u30dd\u30b8\u30c8\u30ea\u540d \\\n\n\u00a0 \u00a0 --dataset.num_episodes=\u8a18\u9332\u3057\u305f\u3044\u30a8\u30d4\u30bd\u30fc\u30c9\u6570 \\\n\n\u00a0 \u00a0 --dataset.single_task=\"\u5b9f\u884c\u3059\u308b\u30bf\u30b9\u30af\u306e\u6982\u8981\"<\/code><\/pre>\n\n\n\n<p>\u3053\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u3001\u540c\u6642\u306b\u5404\u30b8\u30e7\u30a4\u30f3\u30c8\u306e\u52d5\u304d\u3068\u30ab\u30e1\u30e9\u6620\u50cf\u306e\u8a18\u9332\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>\uff11\u56de\u5206\u306e\u30a8\u30d4\u30bd\u30fc\u30c9\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/record1.mp4\"><\/video><\/figure>\n\n\n\n<p>\u3042\u3068\u306f\u3001\u8a18\u9332\u5168\u4f53\u3092\u901a\u3057\u3066\u4e00\u8cab\u3057\u305f\u628a\u6301\u52d5\u4f5c\u3092\u7dad\u6301\u3059\u308b\u3088\u3046\u306b\u7e70\u308a\u8fd4\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4eca\u56de\u306f\u3001<strong>100\u56de\u5206<\/strong>\u306e\u30a8\u30d4\u30bd\u30fc\u30c9\u3092\u8a18\u9332\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>\u30b7\u30f3\u30d7\u30eb\u306a\u304c\u3089\u3082\u5730\u9053\u306a\u4f5c\u696d\u3067\u3001\u304b\u306a\u308a\u75b2\u308c\u307e\u3057\u305f&#8230;\uff08\u7b11\uff09<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/record2.mp4\"><\/video><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>ACT\u306b\u3088\u308b\u5b66\u7fd2<\/strong><\/h2>\n\n\n\n<p>\u3044\u3088\u3044\u3088\u3001\u96c6\u3081\u305f\u30c7\u30fc\u30bf\u3092\u4f7f\u3063\u3066ACT\u30e2\u30c7\u30eb\u3092\u5b66\u7fd2\u3055\u305b\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u5b66\u7fd2\u306b\u306f\u3001\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python -m lerobot.scripts.train \\\n\n\u00a0 --dataset.repo_id=${HF_USER}\/PenPickPlace_100epi \u00a0\\\n\n\u00a0 --policy.type=act \\\n\n\u00a0 --output_dir=outputs\/train\/act_pen_pick_place \\\n\n\u00a0 --job_name=act_pen_pick_place \\\n\n\u00a0 --policy.device=cuda \\\n\n\u00a0 --wandb.enable=true \\\n\n\u00a0 --batch_size=16 \\\n\n\u00a0 --steps=150000 \\\n\n\u00a0 --policy.repo_id=${HF_USER}\/act_pen_pick_place<\/code><\/pre>\n\n\n\n<p>wandb\u3092\u4f7f\u7528\u3057\u3066\u3001train loss\u306a\u3069\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"434\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/wandb-1024x434.png\" alt=\"\" class=\"wp-image-471\" style=\"width:536px;height:auto\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/wandb-1024x434.png 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/wandb-300x127.png 300w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/wandb-768x325.png 768w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/wandb-1536x651.png 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/wandb.png 1853w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u3053\u308c\u306b\u3088\u308a\u3001\u5b66\u7fd2\u304c\u3046\u307e\u304f\u884c\u3063\u3066\u3044\u308b\u304b\u30c1\u30a7\u30c3\u30af\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>GPU\u306e\u6027\u80fd\u306b\u3088\u3063\u3066\u5b66\u7fd2\u6642\u9593\u306f\u5909\u308f\u308b\u306e\u3067\u3001\u6c17\u9577\u306b\u5f85\u3061\u307e\u3059&#8230;<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5b66\u7fd2\u6e08\u307f\u30e2\u30c7\u30eb\u306e\u8a55\u4fa1<\/strong><\/h2>\n\n\n\n<p>\u5b66\u7fd2\u304c\u7d42\u308f\u3063\u305f\u3089\u3001\u30e2\u30c7\u30eb\u306e\u8155\u8a66\u3057\u3067\u3059\u3002\u5b9f\u969b\u306b\u63a8\u8ad6\u3092\u5b9f\u884c\u3057\u3066\u3001\u5b66\u7fd2\u3057\u305f\u30dd\u30ea\u30b7\u30fc\u304c\u3069\u308c\u3060\u3051\u6b63\u78ba\u306b\u52d5\u4f5c\u3059\u308b\u304b\u3092\u8a55\u4fa1\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u3001\u3044\u3056\u63a8\u8ad6\uff01<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python -m lerobot.record \\\n\n\u00a0 --robot.type=so101_follower \\\n\n\u00a0 --robot.port=\/dev\/ttyACM\u6570\u5024 \\\n\n\u00a0 --robot.id=follower\u306e\u4efb\u610f\u306e\u540d\u524d \\\n\n\u00a0 --robot.cameras=\"{\n\n\u00a0 top: {type: opencv, index_or_path: \/dev\/video0, width: 640, height: 480, fps: 30},\n\n\u00a0 arm: {type: opencv, index_or_path: \/dev\/video2, width: 640, height: 480, fps: 30}\n\n\u00a0 }\" \\\n\n\u00a0 --dataset.single_task=\"Grab the black pen and place it in the red cup\" \\\n\n\u00a0 --display_data=false \\\n\n\u00a0 --dataset.repo_id=${HF_USER}\/eval_act_pen_pick_place_v1 \\\n\n\u00a0 --policy.path=${HF_USER}\/act_pen_pick_place \\\n\n\u00a0 --dataset.episode_time_s=180 \\\n\n\u00a0 --dataset.num_episodes=10<\/code><\/pre>\n\n\n\n<p>\u3053\u308c\u3067\u30013\u52061\u30a8\u30d4\u30bd\u30fc\u30c9\u3067\u63a8\u8ad6\u3092\u5b9f\u884c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3046\u307e\u304f\u30da\u30f3\u3092\u3068\u3063\u3066\u30b3\u30c3\u30d7\u306e\u4e2d\u306b\u5165\u308c\u3066\u304f\u308c\u308b\u306e\u304b&#8230;\uff1f\u30c9\u30ad\u30c9\u30ad&#8230;<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/eval.mp4\"><\/video><\/figure>\n\n\n\n<p>\u3059\u3054\u3044\uff01\u601d\u308f\u305a\u62cd\u624b\u3057\u3066\u3057\u307e\u3044\u307e\u3057\u305f\ud83d\udc4f<\/p>\n\n\n\n<p>\u5c11\u3005\u904e\u5b66\u7fd2\u6c17\u5473\u3060\u3063\u305f\u306e\u3067\u3001\u4eca\u5f8c\u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u3068\u308a\u65b9\u3084\u9069\u5207\u306asteps\u6570\u306e\u8a2d\u5b9a\u3092\u6a21\u7d22\u3057\u3066\u3044\u304d\u305f\u3044\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u307e\u3068\u3081<\/strong><\/h2>\n\n\n\n<p>\u4eca\u56de\u306f\u3001\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u96c6\u3081\u305f\u30a8\u30d4\u30bd\u30fc\u30c9\u30c7\u30fc\u30bf\u3092\u4f7f\u3063\u3066\u3001ACT\u30e2\u30c7\u30eb\u3092\u5b66\u7fd2\u3055\u305b\u308b\u624b\u9806\u3092\u884c\u3044\u307e\u3057\u305f\u3002\u30c7\u30fc\u30bf\u53ce\u96c6\u304b\u3089\u5b66\u7fd2\u3001\u8a55\u4fa1\u307e\u3067\u3001\u4e00\u9023\u306e\u6d41\u308c\u3092\u4f53\u9a13\u3059\u308b\u3053\u3068\u3067\u3001\u30ed\u30dc\u30c3\u30c8\u5b66\u7fd2\u306e\u96e3\u3057\u3055\u3084\u697d\u3057\u3055\u3092\u77e5\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>\u6b21\u56de\u306f\u3001\u3044\u3088\u3044\u3088SO-ARM\u30922\u3064\u4f7f\u3063\u3066\u53cc\u8155\u5bfe\u5fdc\u306b\u6311\u6226\u3057\u307e\u3059\uff01\u3055\u3089\u306b\u8907\u96d1\u306a\u52d5\u304d\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308b\u306e\u304b\u3001\u697d\u3057\u307f\u3067\u3059\u306d\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u30a2\u30fc\u30e0\u306e\u7d44\u307f\u7acb\u3066\u304b\u3089\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u307e\u3067\u3001\u9806\u8abf\u306b\u9032\u3093\u3067\u304d\u307e\u3057\u305fLeRobot\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3002\u4eca\u56de\u306f\u3001\u30a2\u30fc\u30e0\u306b\u52d5\u304d\u3092\u6559\u3048\u308b\u5b66\u7fd2\u30d5\u30a7\u30fc\u30ba\u306b\u7a81\u5165\u3057\u307e\u3059\uff01 \u4eca\u56de\u306f ACT (Action Chunking with Transf [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-466","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages\/466","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=466"}],"version-history":[{"count":1,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages\/466\/revisions"}],"predecessor-version":[{"id":473,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages\/466\/revisions\/473"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=466"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}