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Published 20 hours ago • verified publisher icon ARISE-Initiative

EgoMimic Changes

Open SimarKareer opened this issue 4 months ago • 0 comments

General robomimic performance improvements I made while developing EgoMimic. Some improvements include

  • Dino + LORA support
  • Improved observation and action normalization
  • Added some data augmentations
  • "prestacked actions": these actions are preprocessed during data processing stage, and do not need to be stacked during dataloading.
  • "ac_key": the action key is manually specified rather than assuming the key is "actions".

SimarKareer avatar Oct 18 '24 17:10 SimarKareer