README.md

Octo Evaluation Environments

The step and reset functions of the Gym environment should return observations with the images, depth images, and/or proprioceptive information that the model expects as input. Specifically, the returned observations should be dictionaries of the form:

obs = {
    "image_primary": ...,
    "image_wrist": ...,
    ...
    "depth_primary": ...,
    "depth_wrist": ...,
    ...
    "proprio": ...,
}

Note that the image keys should be image_{key} where key is one of the image_obs_keys specified in the data loading config used to train the model (typically this is primary and/or wrist). If a key is not present in the observation dictionary, the model will substitute it with padding.

Check out the example environments in this folder to help you integrate your own environment!