Pi-0 Imitation Learning on UR10e using LeRobot Interface

This project implements and tests the Pi-0 Imitation Learning model on a UR10e robot available in the IRIS Lab, University of Aveiro, using the LeRobot interface.

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Motivation

To explore and validate state-of-the-art imitation learning models like Pi-0 and smol-vla on real robotic hardware, and build an end-to-end pipeline from teleoperation-based data collection to policy deployment on the UR10e.

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Installation

1. Clone LeRobot: Follow the installation steps on the LeRobot GitHub repository.

2. Clone this repository: This repo contains the UR10e-specific scripts for teleoperation, training, and inference.

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Project Stages

Stage 1: Simulation Prototyping (Gym-XArm)

• Implemented imitation learning policies such as ACT, TDMPC, smol-vla and pi0 in the gym-xarm environment.
• Collected datasets using joystick-based teleoperation.
• Datasets are pushed to HuggingFace Datasets under the user ID @nik658.

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Stage 2: Real Robot Setup

• Setup of RTDE control and teleoperation of the UR10e using a joystick.
• Integration of Kinect sensor for visual feedback and observation.
• Later added 1080p camera feed of c99 camera as another camera feed

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Stage 3: Local Policy Execution

• Developed scripts for:

  • Recording episodes via joystick teleoperation.
  • Pushing collected episodes to a HuggingFace dataset repo.
  • Training LeRobot policies on the pushed data.
  • Running inference locally on the trained Pi-0 model.

• Problem: Local inference with Pi-0 was computationally heavy (GPU unavailable, CPU too slow).

• Solution: Implemented asynchronous inference to decouple observation and action steps.

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Stage 4: Remote Inference via Socket

• Established a socket connection between:

  • Local PC (runs RTDE control and Kinect)
  • Remote GPU cluster (runs the policy inference)

This setup allows real-time execution of high-compute models like Pi-0 while keeping robot control responsive locally.

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