Add Aloha env and ACT policy

WIP Aloha env tests pass

Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])

Update README

Copy past from act repo

Remove download.py add a WIP for Simxarm

Remove download.py add a WIP for Simxarm

Add act yaml (TODO: try train.py)

Training can runs (TODO: eval)

Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)

Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)

poetry lock

fix bug in compute_stats for action normalization

fix more bugs in normalization

fix training

fix import

PushtEnv inheriates AbstractEnv, Improve factory Normalization

Add _make_env to EnvAbstract

Add call_rendering_hooks to pusht env

SimxarmEnv inherites from AbstractEnv (NOT TESTED)

Add aloha tests artifacts + update pusht stats

fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]

Small fix on simxarm

Add next to obs

Add top camera to Aloha env (TODO: make it compatible with set of cameras)

Add top camera to Aloha env (TODO: make it compatible with set of cameras)

tests/data/aloha_sim_transfer_cube_scripted/meta.json

@@ -0,0 +1 @@
+{"action": {"device": "cpu", "shape": [50, 14], "dtype": "torch.float32"}, "episode": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "frame_id": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}

tests/data/aloha_sim_transfer_cube_scripted/next/meta.json

@@ -0,0 +1 @@
+{"done": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}

tests/data/aloha_sim_transfer_cube_scripted/next/observation/image/meta.json

@@ -0,0 +1 @@
+{"top": {"device": "cpu", "shape": [50, 3, 480, 640], "dtype": "torch.uint8"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}

tests/data/aloha_sim_transfer_cube_scripted/next/observation/meta.json

@@ -0,0 +1 @@
+{"state": {"device": "cpu", "shape": [50, 14], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}

tests/data/aloha_sim_transfer_cube_scripted/observation/image/meta.json

@@ -0,0 +1 @@
+{"top": {"device": "cpu", "shape": [50, 3, 480, 640], "dtype": "torch.uint8"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}

tests/data/aloha_sim_transfer_cube_scripted/observation/meta.json

@@ -0,0 +1 @@
+{"state": {"device": "cpu", "shape": [50, 14], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}