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Add gym-aloha, rename simxarm -> xarm, refactor

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Simon Alibert
2024-04-08 16:18:53 +02:00
parent 5dff6d8339
commit 3f6dfa4916
15 changed files with 91 additions and 97 deletions
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6
tests/test_policies.py
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@@ -12,15 +12,15 @@ from .utils import DEVICE, DEFAULT_CONFIG_PATH
@pytest.mark.parametrize(
"env_name,policy_name,extra_overrides",
[
("simxarm", "tdmpc", ["policy.mpc=true"]),
("xarm", "tdmpc", ["policy.mpc=true"]),
("pusht", "tdmpc", ["policy.mpc=false"]),
("pusht", "diffusion", []),
# ("aloha", "act", ["env.task=sim_insertion", "dataset_id=aloha_sim_insertion_human"]),
#("aloha", "act", ["env.task=sim_insertion", "dataset_id=aloha_sim_insertion_scripted"]),
#("aloha", "act", ["env.task=sim_transfer_cube", "dataset_id=aloha_sim_transfer_cube_human"]),
#("aloha", "act", ["env.task=sim_transfer_cube", "dataset_id=aloha_sim_transfer_cube_scripted"]),
# TODO(aliberts): simxarm not working with diffusion
# ("simxarm", "diffusion", []),
# TODO(aliberts): xarm not working with diffusion
# ("xarm", "diffusion", []),
],
)
def test_policy(env_name, policy_name, extra_overrides):