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fix environment seeding

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add fixes for reproducibility

only try to start env if it is closed

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fix normalization and data type

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Tests are passing, Eval pretrained model works, Add gif

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

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Add test_examples.py
This commit is contained in:
Alexander Soare
2024-03-22 13:25:23 +00:00
committed by Cadene
parent 203bcd7ca5
commit 1a1308d62f
32 changed files with 686 additions and 282 deletions
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examples/1_visualize_dataset.py Normal file
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from torchrl.data.replay_buffers import SamplerWithoutReplacement
import lerobot
from lerobot.common.datasets.aloha import AlohaDataset
from lerobot.scripts.visualize_dataset import render_dataset
print(lerobot.available_datasets)
# >>> ['aloha_sim_insertion_human', 'aloha_sim_insertion_scripted', 'aloha_sim_transfer_cube_human', 'aloha_sim_transfer_cube_scripted', 'pusht', 'xarm_lift_medium']
# we use this sampler to sample 1 frame after the other
sampler = SamplerWithoutReplacement(shuffle=False)
dataset = AlohaDataset("aloha_sim_transfer_cube_human", sampler=sampler)
video_paths = render_dataset(
dataset,
out_dir="outputs/visualize_dataset/example",
max_num_samples=300,
fps=50,
)
print(video_paths)
# ['outputs/visualize_dataset/example/episode_0.mp4']