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@@ -59,13 +59,13 @@ pip install -e .
实验中，我们训练测试了如下五个开源数据集：
| 数据集 | 机器人 | 链接 |
|---------|-------|------|
|Z1_StackBox| [Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_StackBox_Dataset)|
|Z1_DualArm_StackBox|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_DualArmStackBox_Dataset)|
|Z1_DualArm_StackBox_V2|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_DualArm_StackBox_Dataset_V2)|
|Z1_DualArm_Cleanup_Pencils|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_DualArm_CleanupPencils_Dataset)|
|G1_Pack_Camera|[Unitree G1](https://www.unitree.com/g1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/G1_MountCameraRedGripper_Dataset)
|Z1_StackBox| [Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_StackBox_Dataset/tree/v2.1)|
|Z1_DualArm_StackBox|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_Dual_Dex1_StackBox_Dataset/tree/v2.1)|
|Z1_DualArm_StackBox_V2|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_Dual_Dex1_StackBox_Dataset_V2/tree/v2.1)|
|Z1_DualArm_Cleanup_Pencils|[Unitree Z1](https://www.unitree.com/z1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/Z1_Dual_Dex1_CleanupPencils_Dataset/tree/v2.1)|
|G1_Pack_Camera|[Unitree G1](https://www.unitree.com/g1)|[Huggingface](https://huggingface.co/datasets/unitreerobotics/G1_Dex1_MountCameraRedGripper_Dataset/tree/v2.1)|
要在自定义数据集上训练，请首先确保数据符合 [Huggingface LeRobot](https://github.com/huggingface/lerobot) 数据集格式，假设下载后的数据目录结构如下：
要在自定义数据集上训练，请首先确保数据符合 [Huggingface LeRobot V2.1](https://github.com/huggingface/lerobot) 数据集格式，假设下载后的数据目录结构如下：
```
source_dir/
├── dataset1_name