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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)

poetry lock

fix bug in compute_stats for action normalization

fix more bugs in normalization

fix training

fix import

PushtEnv inheriates AbstractEnv, Improve factory Normalization

Add _make_env to EnvAbstract

Add call_rendering_hooks to pusht env

SimxarmEnv inherites from AbstractEnv (NOT TESTED)

Add aloha tests artifacts + update pusht stats

fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]

Small fix on simxarm

Add next to obs

Add top camera to Aloha env (TODO: make it compatible with set of cameras)

Add top camera to Aloha env (TODO: make it compatible with set of cameras)
This commit is contained in:
Remi Cadene
2024-03-08 09:47:39 +00:00
committed by Cadene
parent 060bac7672
commit 9d002032d1
116 changed files with 3658 additions and 301 deletions
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9
lerobot/common/datasets/aloha.py
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@@ -73,11 +73,11 @@ def download(data_dir, dataset_id):
data_dir.mkdir(parents=True, exist_ok=True)
gdown.download_folder(FOLDER_URLS[dataset_id], output=data_dir)
gdown.download_folder(FOLDER_URLS[dataset_id], output=str(data_dir))
# because of the 50 files limit per directory, two files episode 48 and 49 were missing
gdown.download(EP48_URLS[dataset_id], output=data_dir / "episode_48.hdf5", fuzzy=True)
gdown.download(EP49_URLS[dataset_id], output=data_dir / "episode_49.hdf5", fuzzy=True)
gdown.download(EP48_URLS[dataset_id], output=str(data_dir / "episode_48.hdf5"), fuzzy=True)
gdown.download(EP49_URLS[dataset_id], output=str(data_dir / "episode_49.hdf5"), fuzzy=True)
class AlohaExperienceReplay(AbstractExperienceReplay):
@@ -124,9 +124,6 @@ class AlohaExperienceReplay(AbstractExperienceReplay):
def image_keys(self) -> list:
return [("observation", "image", cam) for cam in CAMERAS[self.dataset_id]]
# def _is_downloaded(self) -> bool:
# return False
def _download_and_preproc(self):
raw_dir = self.data_dir.parent / f"{self.data_dir.name}_raw"
if not raw_dir.is_dir():