lipo

LiPo: A Lightweight Post-optimization Framework for Smoothing Action Chunks Generated by Learned Policies

Installation

Option 1: pip

pip install action-lipo

Option 2: from source

1. Clone the repository:

   git clone https://github.com/lab-dream/lipo.git
   

2. Navigate to the cloned directory:

   cd lipo
   

3. Install the package:

   pip install -e .
   

Run & Visualization

• Visualize lipo: lipo_visualization.ipynb

• Benchmark:

  python lipo_benchmark.py --save media/lipo_benchmark.png
  

Implementation	Avg [ms]	Std [ms]	Mean |Δ| vs LiPo	Max |Δ| vs LiPo
LiPo	7.207	1.112	0.000000	0.000000
OSQP QP ⚡	0.553	0.119	0.000740	0.005626

ROS 2 Integration

LiPo can also be used within ROS 2 pipelines. See: https://github.com/lab-dream/lipo_ros2