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ARISE-Initiative / robomimic

robomimic: A Modular Framework for Robot Learning from Demonstration
MIT License
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how to configure discrete action in bc.json #183

Closed gemcollector closed 1 month ago

gemcollector commented 1 month ago

hi, great work! I wanna ask how should I modify the bc.json to adapt to discrete action output?

amandlek commented 1 month ago

we do not support discrete actions currently - that would require extra implementation (for example, a separate policy network that treats action outputs as classification, and some postprocessing logic to take existing continuous actions in demonstrations and relabel them into discrete actions)

arhanjain commented 2 weeks ago

@amandlek if i were to implement the new algo/policy to support discretized actions for already discretized data (many including myself use robomimic as training infra so we already have discrete data from other sources), would it be possible to have it merged?

amandlek commented 1 week ago

Yes, definitely! It would be great to have a PR for this.