2024-01-29 20:49:30 +08:00
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# LeRobot
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## Installation
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Install dependencies using `conda`:
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```
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conda env create -f environment.yaml
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conda activate lerobot
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```
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2024-01-31 07:30:14 +08:00
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**dev**
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```
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python setup.py develop
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```
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2024-02-22 20:14:12 +08:00
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## Usage
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### Train
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```
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python lerobot/scripts/train.py \
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--config-name=pusht hydra.job.name=pusht
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```
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### Visualize offline buffer
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```
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python lerobot/scripts/visualize_dataset.py \
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--config-name=pusht hydra.run.dir=tmp/$(date +"%Y_%m_%d")
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```
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### Visualize online buffer / Eval
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```
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python lerobot/scripts/eval.py \
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--config-name=pusht hydra.run.dir=tmp/$(date +"%Y_%m_%d")
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```
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2024-02-16 23:13:24 +08:00
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## TODO
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2024-02-16 23:14:59 +08:00
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- [x] priority update doesnt match FOWM or original paper
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- [x] self.step=100000 should be updated at every step to adjust to horizon of planner
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2024-02-16 23:13:24 +08:00
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- [ ] prefetch replay buffer to speedup training
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- [ ] parallelize env to speedup eval
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2024-02-17 00:27:54 +08:00
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- [ ] clean checkpointing / loading
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- [ ] clean logging
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- [ ] clean config
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- [ ] clean hyperparameter tuning
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- [ ] add pusht
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- [ ] add aloha
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- [ ] add act
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- [ ] add diffusion
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- [ ] add aloha 2
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2024-02-10 23:46:24 +08:00
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2024-01-31 07:30:14 +08:00
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## Contribute
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**style**
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```
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2024-02-16 23:13:24 +08:00
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isort lerobot
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black lerobot
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isort test
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black test
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2024-01-31 07:30:14 +08:00
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pylint lerobot
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```
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