feat: add arms latent pipelines and configs#71
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Lau-JW wants to merge 11 commits intoRobbyant:mainfrom
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feat: add arms latent pipelines and configs#71Lau-JW wants to merge 11 commits intoRobbyant:mainfrom
Lau-JW wants to merge 11 commits intoRobbyant:mainfrom
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Add arms dataset config and scripts for LeRobot conversion, latent extraction, test inference, and submission packaging. Make server imports lazier and flash-attn optional; update .gitignore to avoid committing datasets/models.
- Map 26D (dual-arm joints + fingers) to 30D action space with gripper scalars; mask out EEF dims when URDF is unavailable. - Add latent/action loss weights for two-stage post-training. - Add test inference heuristic: hold fingers then close in last steps. - Add arms_train config entry.
…aset init - Document rsync/git workflow, HF downloads, deps, W&B, and required LeRobot meta files - Auto-generate missing tasks/episodes_stats for local arms_lerobot exports - Use python3 in distributed launch scripts for broader default environments Made-with: Cursor
- Force num_workers=0 when CUDA is already initialized - Default arms_train load_worker to 0 for reliable first-run training Made-with: Cursor
Made-with: Cursor
- Replace default Pool size 128 with configurable dataset_init_workers (default 8) - Clamp to CPU count to avoid spawning hundreds of short-lived processes Made-with: Cursor
- Construct dataset init Pool via spawn to avoid fork+torch storage segfaults - Default dataset_init_workers to 16 (CPU-side), clamp to CPU count - Allow ARMS_LEROBOT_PATH and LINGBOT_VA_BASE_PATH to override hardcoded paths - Keep arms_train W&B disabled by default; avoid clobbering WANDB_* in launcher Made-with: Cursor
Made-with: Cursor
Made-with: Cursor
Made-with: Cursor
- Add continuous-index rollout options and correct action/joint CSV dims - Add decode utilities to align fps/resolution/frame count for submissions Made-with: Cursor
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Add arms dataset config and scripts for LeRobot conversion, latent extraction, test inference, and submission packaging. Make server imports lazier and flash-attn optional; update .gitignore to avoid committing datasets/models.