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Refactor datasets into LeRobotDataset

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This commit is contained in:
Cadene
2024-04-21 12:00:32 +00:00
parent 6d56bcb5de
commit 7626b9a4a3
90 changed files with 167 additions and 352 deletions
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20
tests/test_policies.py
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@@ -19,10 +19,22 @@ from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_env
("xarm", "tdmpc", ["policy.mpc=true"]),
("pusht", "tdmpc", ["policy.mpc=false"]),
("pusht", "diffusion", []),
("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"]),
("aloha", "act", ["env.task=AlohaInsertion-v0", "dataset.repo_id=lerobot/aloha_sim_insertion_human"]),
(
"aloha",
"act",
["env.task=AlohaInsertion-v0", "dataset.repo_id=lerobot/aloha_sim_insertion_scripted"],
),
(
"aloha",
"act",
["env.task=AlohaTransferCube-v0", "dataset.repo_id=lerobot/aloha_sim_transfer_cube_human"],
),
(
"aloha",
"act",
["env.task=AlohaTransferCube-v0", "dataset.repo_id=lerobot/aloha_sim_transfer_cube_scripted"],
),
],
)
@require_env