robomimic fork for CLASS

Installation

Install using the following commands

$ bash ./scripts/setup.sh

Prepare Dataset

$ bash ./scripts/prepare_dataset.sh

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Precompute and Pretrain

$ bash ./scripts/precompute_pretrain.sh

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Finetune

Change "experiment/ckpt_path" argument from robomimic/exps/templates/diffusion_policy_finetune.json by selecting the last (or best) checkpoint from pretraining. (e.g., logs/dp_imn_pretrain/YYYYMMDDHHMMSS/models/model_epoch_50_image_v15_success_0.92.pth) and run the following command.

$ bash ./scripts/finetune.sh

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Train from Scratch 🤔

Alternatively, you can also train from scratch for ablation.

$ bash ./scripts/train.sh