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Add branch: Finetune and Inference on Kinova Robot #69

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McDonaldsvip wants to merge 2 commits into thu-ml:main from McDonaldsvip:kinova

McDonaldsvip commented Jan 14, 2025

This PR creates a branch that adapts the RDT model on Kinova robot. The main changes include:

Modify the data/hdf5_vla_dataset.py for kinova datasets.
Add scripts/convert_rpy.py for converting eef RPY angles to 6d.
Add kinova_utils as kinova api.
Add scripts/kinova_model.py and scripts/kinova_inference.py for inference on kinova robot.
Add KINOVA.md for instructions on how to deploy on kinova robot.

McDonaldsvip added 2 commits

January 11, 2025 14:56


          add kinova README

722bae7


          update Kinova

1f447c6

ethan-iai added the enhancement label

ethan-iai self-assigned this

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