[DRAFT] Two Arm : Teleop and Policy #1312
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CarolinePascal
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What this does
This PR contains changes from our (me and @1nF0rmed ) lerobot hack which enables two arm (+ 3cams [left-wrist,right-wrist , global top view] ) teleop and recording of training data. We also trained a policy which controls the setup. Will be sharing huggingface datasets and models soon!
Dataset : https://huggingface.co/datasets/1nF0rmed/two-arm-coordination
Pretrained Policies Coming soon!! (We are working on OpenVLA and ACT at the moment, planning more experiments soon.)
Our X post/video here
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test_somethingintests/test_stuff.py.new_featureand checked that training converges with policy X on dataset/environment Y.some_function, it now runs X times faster than previously.How to checkout & try? (for the reviewer)
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