1.1 KiB
1.1 KiB
LeRobot
Installation
Install dependencies using conda:
conda env create -f environment.yaml
conda activate lerobot
dev
python setup.py develop
Usage
Train
python lerobot/scripts/train.py \
--config-name=pusht hydra.job.name=pusht
Visualize offline buffer
python lerobot/scripts/visualize_dataset.py \
--config-name=pusht hydra.run.dir=tmp/$(date +"%Y_%m_%d")
Visualize online buffer / Eval
python lerobot/scripts/eval.py \
--config-name=pusht hydra.run.dir=tmp/$(date +"%Y_%m_%d")
TODO
- priority update doesnt match FOWM or original paper
- self.step=100000 should be updated at every step to adjust to horizon of planner
- prefetch replay buffer to speedup training
- parallelize env to speedup eval
- clean checkpointing / loading
- clean logging
- clean config
- clean hyperparameter tuning
- add pusht
- add aloha
- add act
- add diffusion
- add aloha 2
Contribute
style
isort lerobot
black lerobot
isort test
black test
pylint lerobot