Merge remote-tracking branch 'upstream/main'
This commit is contained in:
Alexander Soare
commit
001d74961e
7
Makefile
7
Makefile
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|
@ -22,9 +22,8 @@ test-end-to-end:
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${MAKE} test-act-ete-eval
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${MAKE} test-diffusion-ete-train
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${MAKE} test-diffusion-ete-eval
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||||
# TODO(rcadene, alexander-soare): enable end-to-end tests for tdmpc
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||||
# ${MAKE} test-tdmpc-ete-train
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||||
# ${MAKE} test-tdmpc-ete-eval
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||||
${MAKE} test-tdmpc-ete-train
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||||
${MAKE} test-tdmpc-ete-eval
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||||
${MAKE} test-default-ete-eval
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test-act-ete-train:
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@ -80,7 +79,7 @@ test-tdmpc-ete-train:
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policy=tdmpc \
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env=xarm \
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env.task=XarmLift-v0 \
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dataset_repo_id=lerobot/xarm_lift_medium_replay \
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dataset_repo_id=lerobot/xarm_lift_medium \
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wandb.enable=False \
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training.offline_steps=2 \
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training.online_steps=2 \
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@ -7,6 +7,11 @@ ARG DEBIAN_FRONTEND=noninteractive
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# Install apt dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential cmake \
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git git-lfs openssh-client \
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nano vim \
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htop atop nvtop \
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sed gawk grep curl wget \
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tcpdump sysstat screen \
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libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
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python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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@ -18,7 +23,8 @@ ENV PATH="/opt/venv/bin:$PATH"
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RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
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# Install LeRobot
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COPY . /lerobot
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RUN git lfs install
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RUN git clone https://github.com/huggingface/lerobot.git
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WORKDIR /lerobot
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RUN pip install --upgrade --no-cache-dir pip
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RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"
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@ -47,7 +47,7 @@ class TDMPCConfig:
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elite_weighting_temperature: The temperature to use for softmax weighting (by trajectory value) of the
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elites, when updating the gaussian parameters for CEM.
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gaussian_mean_momentum: Momentum (α) used for EMA updates of the mean parameter μ of the gaussian
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paramters optimized in CEM. Updates are calculated as μ⁻ ← αμ⁻ + (1-α)μ.
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parameters optimized in CEM. Updates are calculated as μ⁻ ← αμ⁻ + (1-α)μ.
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max_random_shift_ratio: Maximum random shift (as a proportion of the image size) to apply to the
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image(s) (in units of pixels) for training-time augmentation. If set to 0, no such augmentation
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is applied. Note that the input images are assumed to be square for this augmentation.
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@ -3,6 +3,12 @@
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seed: 1000
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dataset_repo_id: lerobot/aloha_sim_insertion_human
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override_dataset_stats:
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observation.images.top:
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# stats from imagenet, since we use a pretrained vision model
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mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1)
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std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
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training:
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offline_steps: 80000
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online_steps: 0
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@ -18,12 +24,6 @@ training:
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grad_clip_norm: 10
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online_steps_between_rollouts: 1
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override_dataset_stats:
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observation.images.top:
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# stats from imagenet, since we use a pretrained vision model
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mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1)
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std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
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delta_timestamps:
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action: "[i / ${fps} for i in range(${policy.chunk_size})]"
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|
|
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@ -7,6 +7,20 @@
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seed: 100000
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dataset_repo_id: lerobot/pusht
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override_dataset_stats:
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# TODO(rcadene, alexander-soare): should we remove image stats as well? do we use a pretrained vision model?
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observation.image:
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mean: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
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std: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
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# TODO(rcadene, alexander-soare): we override state and action stats to use the same as the pretrained model
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# from the original codebase, but we should remove these and train our own pretrained model
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observation.state:
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min: [13.456424, 32.938293]
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max: [496.14618, 510.9579]
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action:
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min: [12.0, 25.0]
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max: [511.0, 511.0]
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training:
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offline_steps: 200000
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online_steps: 0
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@ -34,20 +48,6 @@ eval:
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n_episodes: 50
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batch_size: 50
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override_dataset_stats:
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# TODO(rcadene, alexander-soare): should we remove image stats as well? do we use a pretrained vision model?
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observation.image:
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mean: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
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std: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
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||||
# TODO(rcadene, alexander-soare): we override state and action stats to use the same as the pretrained model
|
||||
# from the original codebase, but we should remove these and train our own pretrained model
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observation.state:
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min: [13.456424, 32.938293]
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max: [496.14618, 510.9579]
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action:
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min: [12.0, 25.0]
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max: [511.0, 511.0]
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policy:
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name: diffusion
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|
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@ -1,7 +1,7 @@
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# @package _global_
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seed: 1
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dataset_repo_id: lerobot/xarm_lift_medium_replay
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dataset_repo_id: lerobot/xarm_lift_medium
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training:
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offline_steps: 25000
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|
|
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@ -131,17 +131,6 @@ files = [
|
|||
{file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
|
||||
]
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||||
|
||||
[[package]]
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||||
name = "appdirs"
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||||
version = "1.4.4"
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||||
description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
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||||
optional = false
|
||||
python-versions = "*"
|
||||
files = [
|
||||
{file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
|
||||
{file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "asciitree"
|
||||
version = "0.3.3"
|
||||
|
|
@ -1108,67 +1097,67 @@ protobuf = ["grpcio-tools (>=1.63.0)"]
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|||
|
||||
[[package]]
|
||||
name = "gym-aloha"
|
||||
version = "0.1.0"
|
||||
version = "0.1.1"
|
||||
description = "A gym environment for ALOHA"
|
||||
optional = true
|
||||
python-versions = "<4.0,>=3.10"
|
||||
files = [
|
||||
{file = "gym_aloha-0.1.0-py3-none-any.whl", hash = "sha256:62e36eeb09284422cbb7baca0292c6f65e38ec8774bf9b0bf7159ad5990cf29a"},
|
||||
{file = "gym_aloha-0.1.0.tar.gz", hash = "sha256:bab332f469ba5ffe655fc3e9647aead05d2cb3b950dfb1f299b9539b3857ad7e"},
|
||||
{file = "gym_aloha-0.1.1-py3-none-any.whl", hash = "sha256:2698037246dbb106828f0bc229b61007b0a21d5967c72cc373f7bc1083203584"},
|
||||
{file = "gym_aloha-0.1.1.tar.gz", hash = "sha256:614ae1cf116323e7b5ae2f0e9bd282c4f052aee15e839e5587ddce45995359bc"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
dm-control = "1.0.14"
|
||||
gymnasium = ">=0.29.1,<0.30.0"
|
||||
imageio = {version = ">=2.34.0,<3.0.0", extras = ["ffmpeg"]}
|
||||
dm-control = ">=1.0.14"
|
||||
gymnasium = ">=0.29.1"
|
||||
imageio = {version = ">=2.34.0", extras = ["ffmpeg"]}
|
||||
mujoco = ">=2.3.7,<3.0.0"
|
||||
|
||||
[package.extras]
|
||||
dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
|
||||
test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
|
||||
dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
|
||||
test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
|
||||
|
||||
[[package]]
|
||||
name = "gym-pusht"
|
||||
version = "0.1.1"
|
||||
version = "0.1.3"
|
||||
description = "A gymnasium environment for PushT."
|
||||
optional = true
|
||||
python-versions = "<4.0,>=3.10"
|
||||
files = [
|
||||
{file = "gym_pusht-0.1.1-py3-none-any.whl", hash = "sha256:dcf8644713db48286e907aabb11e005b0592632e323baa40d1a4f2dfbbc76c3d"},
|
||||
{file = "gym_pusht-0.1.1.tar.gz", hash = "sha256:0d1c9ffd4ad0e2411efcc724003a365a853f20b6d596980c113e7ec181ac021f"},
|
||||
{file = "gym_pusht-0.1.3-py3-none-any.whl", hash = "sha256:feeb02493a03d1aacc45d43d6397962c50ed779ab7e4019d73af11d2f0b3831b"},
|
||||
{file = "gym_pusht-0.1.3.tar.gz", hash = "sha256:c8e9a5256035ba49841ebbc7c32a06c4fa2daa52f5fad80da941b607c4553e28"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
gymnasium = ">=0.29.1,<0.30.0"
|
||||
opencv-python = ">=4.9.0.80,<5.0.0.0"
|
||||
pygame = ">=2.5.2,<3.0.0"
|
||||
pymunk = ">=6.6.0,<7.0.0"
|
||||
gymnasium = ">=0.29.1"
|
||||
opencv-python = ">=4.9.0"
|
||||
pygame = ">=2.5.2"
|
||||
pymunk = ">=6.6.0"
|
||||
scikit-image = ">=0.22.0"
|
||||
shapely = ">=2.0.3,<3.0.0"
|
||||
shapely = ">=2.0.3"
|
||||
|
||||
[package.extras]
|
||||
dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
|
||||
test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
|
||||
dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
|
||||
test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
|
||||
|
||||
[[package]]
|
||||
name = "gym-xarm"
|
||||
version = "0.1.0"
|
||||
version = "0.1.1"
|
||||
description = "A gym environment for xArm"
|
||||
optional = true
|
||||
python-versions = "<4.0,>=3.10"
|
||||
files = [
|
||||
{file = "gym_xarm-0.1.0-py3-none-any.whl", hash = "sha256:d10ac19a59d302201a9b8bd913530211b1058467b787ad91a657907e40cdbc13"},
|
||||
{file = "gym_xarm-0.1.0.tar.gz", hash = "sha256:fc05f9d02af1f0205275311669dc191ce431be484e221a96401eb544764eb986"},
|
||||
{file = "gym_xarm-0.1.1-py3-none-any.whl", hash = "sha256:3bd7e3c1c5521ba80a56536f01a5e11321580704d72160355ce47a828a8808ad"},
|
||||
{file = "gym_xarm-0.1.1.tar.gz", hash = "sha256:e455524561b02d06b92a4f7d524f448d84a7484d9a2dbc78600e3c66240e0fb7"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
gymnasium = ">=0.29.1,<0.30.0"
|
||||
gymnasium-robotics = ">=1.2.4,<2.0.0"
|
||||
gymnasium = ">=0.29.1"
|
||||
gymnasium-robotics = ">=1.2.4"
|
||||
mujoco = ">=2.3.7,<3.0.0"
|
||||
|
||||
[package.extras]
|
||||
dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
|
||||
test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
|
||||
dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
|
||||
test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
|
||||
|
||||
[[package]]
|
||||
name = "gymnasium"
|
||||
|
|
@ -1258,13 +1247,13 @@ numpy = ">=1.17.3"
|
|||
|
||||
[[package]]
|
||||
name = "huggingface-hub"
|
||||
version = "0.21.4"
|
||||
version = "0.23.0"
|
||||
description = "Client library to download and publish models, datasets and other repos on the huggingface.co hub"
|
||||
optional = false
|
||||
python-versions = ">=3.8.0"
|
||||
files = [
|
||||
{file = "huggingface_hub-0.21.4-py3-none-any.whl", hash = "sha256:df37c2c37fc6c82163cdd8a67ede261687d80d1e262526d6c0ce73b6b3630a7b"},
|
||||
{file = "huggingface_hub-0.21.4.tar.gz", hash = "sha256:e1f4968c93726565a80edf6dc309763c7b546d0cfe79aa221206034d50155531"},
|
||||
{file = "huggingface_hub-0.23.0-py3-none-any.whl", hash = "sha256:075c30d48ee7db2bba779190dc526d2c11d422aed6f9044c5e2fdc2c432fdb91"},
|
||||
{file = "huggingface_hub-0.23.0.tar.gz", hash = "sha256:7126dedd10a4c6fac796ced4d87a8cf004efc722a5125c2c09299017fa366fa9"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
|
|
@ -1277,15 +1266,16 @@ tqdm = ">=4.42.1"
|
|||
typing-extensions = ">=3.7.4.3"
|
||||
|
||||
[package.extras]
|
||||
all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "gradio", "jedi", "mypy (==1.5.1)", "numpy", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.1.3)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
|
||||
all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "fastapi", "gradio", "jedi", "minijinja (>=1.0)", "mypy (==1.5.1)", "numpy", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.3.0)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
|
||||
cli = ["InquirerPy (==0.3.4)"]
|
||||
dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "gradio", "jedi", "mypy (==1.5.1)", "numpy", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.1.3)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
|
||||
dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "fastapi", "gradio", "jedi", "minijinja (>=1.0)", "mypy (==1.5.1)", "numpy", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.3.0)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
|
||||
fastai = ["fastai (>=2.4)", "fastcore (>=1.3.27)", "toml"]
|
||||
hf-transfer = ["hf-transfer (>=0.1.4)"]
|
||||
inference = ["aiohttp", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)"]
|
||||
quality = ["mypy (==1.5.1)", "ruff (>=0.1.3)"]
|
||||
inference = ["aiohttp", "minijinja (>=1.0)"]
|
||||
quality = ["mypy (==1.5.1)", "ruff (>=0.3.0)"]
|
||||
tensorflow = ["graphviz", "pydot", "tensorflow"]
|
||||
testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "gradio", "jedi", "numpy", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "soundfile", "urllib3 (<2.0)"]
|
||||
tensorflow-testing = ["keras (<3.0)", "tensorflow"]
|
||||
testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "fastapi", "gradio", "jedi", "minijinja (>=1.0)", "numpy", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "soundfile", "urllib3 (<2.0)"]
|
||||
torch = ["safetensors", "torch"]
|
||||
typing = ["types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)"]
|
||||
|
||||
|
|
@ -2587,7 +2577,7 @@ xmp = ["defusedxml"]
|
|||
name = "platformdirs"
|
||||
version = "4.2.1"
|
||||
description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
|
||||
optional = true
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "platformdirs-4.2.1-py3-none-any.whl", hash = "sha256:17d5a1161b3fd67b390023cb2d3b026bbd40abde6fdb052dfbd3a29c3ba22ee1"},
|
||||
|
|
@ -4034,36 +4024,40 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
|
|||
|
||||
[[package]]
|
||||
name = "wandb"
|
||||
version = "0.16.6"
|
||||
version = "0.17.0"
|
||||
description = "A CLI and library for interacting with the Weights & Biases API."
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
files = [
|
||||
{file = "wandb-0.16.6-py3-none-any.whl", hash = "sha256:5810019a3b981c796e98ea58557a7c380f18834e0c6bdaed15df115522e5616e"},
|
||||
{file = "wandb-0.16.6.tar.gz", hash = "sha256:86f491e3012d715e0d7d7421a4d6de41abef643b7403046261f962f3e512fe1c"},
|
||||
{file = "wandb-0.17.0-py3-none-any.whl", hash = "sha256:b1b056b4cad83b00436cb76049fd29ecedc6045999dcaa5eba40db6680960ac2"},
|
||||
{file = "wandb-0.17.0-py3-none-macosx_10_9_x86_64.whl", hash = "sha256:e1e6f04e093a6a027dcb100618ca23b122d032204b2ed4c62e4e991a48041a6b"},
|
||||
{file = "wandb-0.17.0-py3-none-macosx_11_0_arm64.whl", hash = "sha256:feeb60d4ff506d2a6bc67f953b310d70b004faa789479c03ccd1559c6f1a9633"},
|
||||
{file = "wandb-0.17.0-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b7bed8a3dd404a639e6bf5fea38c6efe2fb98d416ff1db4fb51be741278ed328"},
|
||||
{file = "wandb-0.17.0-py3-none-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:56a1dd6e0e635cba3f6ed30b52c71739bdc2a3e57df155619d2d80ee952b4201"},
|
||||
{file = "wandb-0.17.0-py3-none-win32.whl", hash = "sha256:1f692d3063a0d50474022cfe6668e1828260436d1cd40827d1e136b7f730c74c"},
|
||||
{file = "wandb-0.17.0-py3-none-win_amd64.whl", hash = "sha256:ab582ca0d54d52ef5b991de0717350b835400d9ac2d3adab210022b68338d694"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
appdirs = ">=1.4.3"
|
||||
Click = ">=7.1,<8.0.0 || >8.0.0"
|
||||
click = ">=7.1,<8.0.0 || >8.0.0"
|
||||
docker-pycreds = ">=0.4.0"
|
||||
GitPython = ">=1.0.0,<3.1.29 || >3.1.29"
|
||||
gitpython = ">=1.0.0,<3.1.29 || >3.1.29"
|
||||
platformdirs = "*"
|
||||
protobuf = {version = ">=3.19.0,<4.21.0 || >4.21.0,<5", markers = "python_version > \"3.9\" or sys_platform != \"linux\""}
|
||||
psutil = ">=5.0.0"
|
||||
PyYAML = "*"
|
||||
pyyaml = "*"
|
||||
requests = ">=2.0.0,<3"
|
||||
sentry-sdk = ">=1.0.0"
|
||||
setproctitle = "*"
|
||||
setuptools = "*"
|
||||
|
||||
[package.extras]
|
||||
async = ["httpx (>=0.23.0)"]
|
||||
aws = ["boto3"]
|
||||
azure = ["azure-identity", "azure-storage-blob"]
|
||||
gcp = ["google-cloud-storage"]
|
||||
importers = ["filelock", "mlflow", "polars", "rich", "tenacity"]
|
||||
kubeflow = ["google-cloud-storage", "kubernetes", "minio", "sh"]
|
||||
launch = ["PyYAML (>=6.0.0)", "awscli", "azure-containerregistry", "azure-identity", "azure-storage-blob", "boto3", "botocore", "chardet", "google-auth", "google-cloud-aiplatform", "google-cloud-artifact-registry", "google-cloud-compute", "google-cloud-storage", "iso8601", "kubernetes", "kubernetes-asyncio", "nbconvert", "nbformat", "optuna", "pydantic", "tomli", "typing-extensions"]
|
||||
launch = ["awscli", "azure-containerregistry", "azure-identity", "azure-storage-blob", "boto3", "botocore", "chardet", "google-auth", "google-cloud-aiplatform", "google-cloud-artifact-registry", "google-cloud-compute", "google-cloud-storage", "iso8601", "kubernetes", "kubernetes-asyncio", "nbconvert", "nbformat", "optuna", "pydantic", "pyyaml (>=6.0.0)", "tomli", "typing-extensions"]
|
||||
media = ["bokeh", "moviepy", "numpy", "pillow", "plotly (>=5.18.0)", "rdkit-pypi", "soundfile"]
|
||||
models = ["cloudpickle"]
|
||||
perf = ["orjson"]
|
||||
|
|
@ -4309,13 +4303,13 @@ multidict = ">=4.0"
|
|||
|
||||
[[package]]
|
||||
name = "zarr"
|
||||
version = "2.17.2"
|
||||
version = "2.18.0"
|
||||
description = "An implementation of chunked, compressed, N-dimensional arrays for Python"
|
||||
optional = false
|
||||
python-versions = ">=3.9"
|
||||
files = [
|
||||
{file = "zarr-2.17.2-py3-none-any.whl", hash = "sha256:70d7cc07c24280c380ef80644151d136b7503b0d83c9f214e8000ddc0f57f69b"},
|
||||
{file = "zarr-2.17.2.tar.gz", hash = "sha256:2cbaa6cb4e342d45152d4a7a4b2013c337fcd3a8e7bc98253560180de60552ce"},
|
||||
{file = "zarr-2.18.0-py3-none-any.whl", hash = "sha256:7f8532b6a3f50f22e809e130e09353637ec8b5bb5e95a5a0bfaae91f63978b5d"},
|
||||
{file = "zarr-2.18.0.tar.gz", hash = "sha256:c3b7d2c85b8a42b0ad0ad268a36fb6886ca852098358c125c6b126a417e0a598"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
|
|
@ -4354,4 +4348,4 @@ xarm = ["gym-xarm"]
|
|||
[metadata]
|
||||
lock-version = "2.0"
|
||||
python-versions = ">=3.10,<3.13"
|
||||
content-hash = "008a6af5ad9d9eafbd933c922c2c5d84fddae85aff8a9eefc0538b1319966f6e"
|
||||
content-hash = "21dd1d7404ac774bd1139e8cda44ea8e3ed97c30e524f2ed862de431d3d5fa87"
|
||||
|
|
|
|||
|
|
@ -28,37 +28,37 @@ packages = [{include = "lerobot"}]
|
|||
|
||||
[tool.poetry.dependencies]
|
||||
python = ">=3.10,<3.13"
|
||||
termcolor = "^2.4.0"
|
||||
omegaconf = "^2.3.0"
|
||||
wandb = "^0.16.3"
|
||||
imageio = {extras = ["ffmpeg"], version = "^2.34.0"}
|
||||
gdown = "^5.1.0"
|
||||
hydra-core = "^1.3.2"
|
||||
einops = "^0.8.0"
|
||||
pymunk = "^6.6.0"
|
||||
zarr = "^2.17.0"
|
||||
numba = "^0.59.0"
|
||||
termcolor = ">=2.4.0"
|
||||
omegaconf = ">=2.3.0"
|
||||
wandb = ">=0.16.3"
|
||||
imageio = {extras = ["ffmpeg"], version = ">=2.34.0"}
|
||||
gdown = ">=5.1.0"
|
||||
hydra-core = ">=1.3.2"
|
||||
einops = ">=0.8.0"
|
||||
pymunk = ">=6.6.0"
|
||||
zarr = ">=2.17.0"
|
||||
numba = ">=0.59.0"
|
||||
torch = "^2.2.1"
|
||||
opencv-python = "^4.9.0.80"
|
||||
opencv-python = ">=4.9.0"
|
||||
diffusers = "^0.27.2"
|
||||
torchvision = "^0.18.0"
|
||||
h5py = "^3.10.0"
|
||||
huggingface-hub = "^0.21.4"
|
||||
torchvision = ">=0.18.0"
|
||||
h5py = ">=3.10.0"
|
||||
huggingface-hub = ">=0.21.4"
|
||||
robomimic = "0.2.0"
|
||||
gymnasium = "^0.29.1"
|
||||
cmake = "^3.29.0.1"
|
||||
gym-pusht = { version = "^0.1.1", optional = true}
|
||||
gym-xarm = { version = "^0.1.0", optional = true}
|
||||
gym-aloha = { version = "^0.1.0", optional = true}
|
||||
pre-commit = {version = "^3.7.0", optional = true}
|
||||
debugpy = {version = "^1.8.1", optional = true}
|
||||
pytest = {version = "^8.1.0", optional = true}
|
||||
pytest-cov = {version = "^5.0.0", optional = true}
|
||||
datasets = "^2.19.0"
|
||||
imagecodecs = { version = "^2024.1.1", optional = true }
|
||||
pyav = "^12.0.5"
|
||||
moviepy = "^1.0.3"
|
||||
rerun-sdk = "^0.15.1"
|
||||
gymnasium = ">=0.29.1"
|
||||
cmake = ">=3.29.0.1"
|
||||
gym-pusht = { version = ">=0.1.3", optional = true}
|
||||
gym-xarm = { version = ">=0.1.1", optional = true}
|
||||
gym-aloha = { version = ">=0.1.1", optional = true}
|
||||
pre-commit = {version = ">=3.7.0", optional = true}
|
||||
debugpy = {version = ">=1.8.1", optional = true}
|
||||
pytest = {version = ">=8.1.0", optional = true}
|
||||
pytest-cov = {version = ">=5.0.0", optional = true}
|
||||
datasets = ">=2.19.0"
|
||||
imagecodecs = { version = ">=2024.1.1", optional = true }
|
||||
pyav = ">=12.0.5"
|
||||
moviepy = ">=1.0.3"
|
||||
rerun-sdk = ">=0.15.1"
|
||||
|
||||
|
||||
[tool.poetry.extras]
|
||||
|
|
@ -104,5 +104,5 @@ ignore-init-module-imports = true
|
|||
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core>=1.5.0"]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
|
|
|
|||
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|
|
@ -236,7 +236,7 @@ def test_normalize(insert_temporal_dim):
|
|||
@pytest.mark.parametrize(
|
||||
"env_name, policy_name, extra_overrides",
|
||||
[
|
||||
# ("xarm", "tdmpc", ["policy.n_action_repeats=2"]),
|
||||
("xarm", "tdmpc", []),
|
||||
(
|
||||
"pusht",
|
||||
"diffusion",
|
||||
|
|
|
|||
Loading…
Reference in New Issue