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fix environment seeding

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add fixes for reproducibility

only try to start env if it is closed

revision

fix normalization and data type

Improve README

Improve README

Tests are passing, Eval pretrained model works, Add gif

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Update README

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update minor

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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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18
lerobot/common/datasets/aloha.py
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@@ -9,11 +9,11 @@ import torch
import torchrl
import tqdm
from tensordict import TensorDict
from torchrl.data.replay_buffers.samplers import SliceSampler
from torchrl.data.replay_buffers.samplers import Sampler
from torchrl.data.replay_buffers.storages import TensorStorage
from torchrl.data.replay_buffers.writers import Writer
from lerobot.common.datasets.abstract import AbstractExperienceReplay
from lerobot.common.datasets.abstract import AbstractDataset
DATASET_IDS = [
"aloha_sim_insertion_human",
@@ -80,24 +80,24 @@ def download(data_dir, dataset_id):
gdown.download(EP49_URLS[dataset_id], output=str(data_dir / "episode_49.hdf5"), fuzzy=True)
class AlohaExperienceReplay(AbstractExperienceReplay):
class AlohaDataset(AbstractDataset):
available_datasets = DATASET_IDS
def __init__(
self,
dataset_id: str,
version: str | None = "v1.2",
batch_size: int = None,
batch_size: int | None = None,
*,
shuffle: bool = True,
root: Path | None = None,
pin_memory: bool = False,
prefetch: int = None,
sampler: SliceSampler = None,
collate_fn: Callable = None,
writer: Writer = None,
sampler: Sampler | None = None,
collate_fn: Callable | None = None,
writer: Writer | None = None,
transform: "torchrl.envs.Transform" = None,
):
assert dataset_id in DATASET_IDS
super().__init__(
dataset_id,
version,