Robomimic branch r2d2 no longer available

[JMaria88]

Hello,

The branch r2d2 referenced in the installation of this repo no longer exists. Is there another one we should be using?

Thanks!

[lukeschmitt-tr]

It looks like the r2d2 branch was removed in June: https://github.com/ARISE-Initiative/robomimic/activity?ref=r2d2

This looks like the last commit made on that branch: https://github.com/ARISE-Initiative/robomimic/tree/9525f993e2bbdf2d3efd56345c22b965dd675eb3

You may also try using this repo: https://github.com/tonyzhaozh/robomimic-ACT-merge

Please let us know if using either of these methods works for your purposes.

[JMaria88]

Thank you for the prompt response!

It looks like the only thing I'd need are replace_bn_with_gn and ConditionalUnet1D which I could just copy over locally and import from a new file?

Basically I would like to stay as close as possible to your original codebase as I'm assuming you've successfully trained and evaluated diffusion policies on real aloha using this.

That being said, I see in the docs recommended values for ACT. Could you please recommend what worked for Diffusion? Mainly chunk_size, hidden sizes, query horizon at eval, how many cameras you trained on, how many demos you collected for a decent policy, num training steps, observation horizon, action horizon.

Thanks!