tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

tests are passing for aloha/act policies, removes abstract policy

Browse Source
This commit is contained in:
Cadene
2024-04-09 03:28:56 +00:00
parent 73dfa3c8e3
commit 6902e01db0
6 changed files with 90 additions and 167 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
tests/test_policies.py
View File

@@ -15,10 +15,10 @@ from .utils import DEVICE, DEFAULT_CONFIG_PATH
("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"]),
("aloha", "act", ["env.task=AlohaInsertion-v0", "dataset_id=aloha_sim_insertion_human"]),
("aloha", "act", ["env.task=AlohaInsertion-v0", "dataset_id=aloha_sim_insertion_scripted"]),
("aloha", "act", ["env.task=AlohaTransferCube-v0", "dataset_id=aloha_sim_transfer_cube_human"]),
("aloha", "act", ["env.task=AlohaTransferCube-v0", "dataset_id=aloha_sim_transfer_cube_scripted"]),
# TODO(aliberts): xarm not working with diffusion
# ("xarm", "diffusion", []),
],