WIP

WIP

WIP train.py works, loss going down

WIP eval.py

Fix

WIP (eval running, TODO: verify results reproduced)

Eval works! (testing reproducibility)

WIP

pretrained model pusht reproduces same results as torchrl

pretrained model pusht reproduces same results as torchrl

Remove AbstractPolicy, Move all queues in select_action

WIP test_datasets passed (TODO: re-enable NormalizeTransform)

lerobot/common/envs/simxarm/env.py

@@ -55,7 +55,7 @@ class SimxarmEnv(AbstractEnv):
         if not _has_gym:
             raise ImportError("Cannot import gymnasium.")
 
-        import gymnasium
+        import gymnasium as gym
 
         from lerobot.common.envs.simxarm.simxarm import TASKS
 
@@ -65,7 +65,7 @@ class SimxarmEnv(AbstractEnv):
         self._env = TASKS[self.task]["env"]()
 
         num_actions = len(TASKS[self.task]["action_space"])
-        self._action_space = gymnasium.spaces.Box(low=-1.0, high=1.0, shape=(num_actions,))
+        self._action_space = gym.spaces.Box(low=-1.0, high=1.0, shape=(num_actions,))
         self._action_padding = np.zeros((MAX_NUM_ACTIONS - num_actions), dtype=np.float32)
         if "w" not in TASKS[self.task]["action_space"]:
             self._action_padding[-1] = 1.0