Release Highlights
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HoloBrain-0: A foundation model for general embodied manipulation. Including training code and evaluation code.
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New Research Projects: We have added comprehensive implementation scripts for notable research projects, including Monodream
New Features
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Project Implementations:
- Added training and evaluation scripts for the HoloBrain-0 project.
- Added evaluation scripts for the Monodream paper.
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RoboOrchard Dataset
- Features
- Add tf_graph datatypes as dataset features.
- Add PickleFeature for arrow dataset.
- Transform
- Add image transforms.
- Add transform to adapt arrow_dataset
- Dataset
- Support dataset index based repacking.
- Add ConcatRODataset and sampler.
- Add dataset merging method and support merge multiple datasets into single one.
- Add meta query by statement
- Support upgrade meta database in RODataset.
- Upgrade Episode table schema to store more information.
- Sampler
- Add ColumnIndexOffsetSampler.
- Support customized column index sampler.
- Add batch row index sampler method for future.
- Docs
- Add tutorial about the RoboOrchard Dataset
- Features
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Inference and Model APIs:
- Refactor TorchModel save and load for better compatibility of accelerate.
- Refactor inference pipeline to be simpler and support batched inference.
- Add model api tutorial and model zoo docs
- ModelMixin and InferenceMixin support hf hub sub directory
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Evaluation
- Add libero env.
- Add distributed robotwin evaluator