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Add Aloha env and ACT policy #11

Merged
merged 7 commits into from
Mar 12, 2024
Merged

Add Aloha env and ACT policy #11

merged 7 commits into from
Mar 12, 2024

Commits on Mar 12, 2024

  1. Add Aloha env and ACT policy 

    WIP Aloha env tests pass

Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])

Update README

Copy past from act repo

Remove download.py add a WIP for Simxarm

Remove download.py add a WIP for Simxarm

Add act yaml (TODO: try train.py)

Training can runs (TODO: eval)

Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)

Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)

poetry lock

fix bug in compute_stats for action normalization

fix more bugs in normalization

fix training

fix import

PushtEnv inheriates AbstractEnv, Improve factory Normalization

Add _make_env to EnvAbstract

Add call_rendering_hooks to pusht env

SimxarmEnv inherites from AbstractEnv (NOT TESTED)

Add aloha tests artifacts + update pusht stats

fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]

Small fix on simxarm

Add next to obs

Add top camera to Aloha env (TODO: make it compatible with set of cameras)

Add top camera to Aloha env (TODO: make it compatible with set of cameras)
    @Cadene
    Cadene committed Mar 12, 2024
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  2. CI fix attempt

    @aliberts
    aliberts committed Mar 12, 2024
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  3. Update test.yml

    @Cadene
    Cadene committed Mar 12, 2024
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  4. Add DEVICE constant from LEROBOT_TESTS_DEVICE

    @Cadene
    Cadene committed Mar 12, 2024
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  5. Add sudo apt-get install -y libegl1-mesa-dev

    @Cadene
    Cadene committed Mar 12, 2024
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  6. info

    @Cadene
    Cadene committed Mar 12, 2024
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  7. info

    @Cadene
    Cadene committed Mar 12, 2024
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