Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act

lerobot/configs/env/aloha.yaml

@@ -4,7 +4,7 @@ eval_episodes: 50
 eval_freq: 7500
 save_freq: 75000
 log_freq: 250
-# TODO: same as simxarm, need to adjust
+# TODO: same as xarm, need to adjust
 offline_steps: 25000
 online_steps: 25000
 
@@ -14,7 +14,7 @@ dataset_id: aloha_sim_insertion_human
 
 env:
   name: aloha
-  task: insertion
+  task: AlohaInsertion-v0
   from_pixels: True
   pixels_only: False
   image_size: [3, 480, 640]

lerobot/configs/env/pusht.yaml

@@ -4,7 +4,7 @@ eval_episodes: 50
 eval_freq: 7500
 save_freq: 75000
 log_freq: 250
-# TODO: same as simxarm, need to adjust
+# TODO: same as xarm, need to adjust
 offline_steps: 25000
 online_steps: 25000
 
@@ -14,7 +14,7 @@ dataset_id: pusht
 
 env:
   name: pusht
-  task: pusht
+  task: PushT-v0
   from_pixels: True
   pixels_only: False
   image_size: 96

lerobot/configs/env/xarm.yaml

@@ -12,8 +12,8 @@ fps: 15
 dataset_id: xarm_lift_medium
 
 env:
-  name: simxarm
-  task: lift
+  name: xarm
+  task: XarmLift-v0
   from_pixels: True
   pixels_only: False
   image_size: 84