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Add Aloha env and ACT policy

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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)
This commit is contained in:
Remi Cadene
2024-03-08 09:47:39 +00:00
committed by Cadene
parent d4ea4f0ad1
commit 66323dcd0a
49 changed files with 3257 additions and 145 deletions
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8
tests/test_datasets.py
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@@ -12,10 +12,10 @@ from .utils import init_config
# ("simxarm", "lift"),
("pusht", "pusht"),
# TODO(aliberts): add aloha when dataset is available on hub
# ("aloha", "sim_insertion_human"),
# ("aloha", "sim_insertion_scripted"),
# ("aloha", "sim_transfer_cube_human"),
# ("aloha", "sim_transfer_cube_scripted"),
("aloha", "sim_insertion_human"),
("aloha", "sim_insertion_scripted"),
("aloha", "sim_transfer_cube_human"),
("aloha", "sim_transfer_cube_scripted"),
],
)
def test_factory(env_name, dataset_id):