Fix normalizer (#57)

* fix normalizer

* fix val

* update compute stats

* delete norm

* update readme

* minor fix

* fix action normalizer

* fix

* fix

* update

* update

* update

* update

* update

* lint

* lint

* lint

* lint

workspace/lerobot_example/config_qact.yml

@@ -20,7 +20,7 @@ profile_active_iters: 2
 # Training hyperparameters
 num_warmup_steps: 100
 num_training_steps: 64000000
-learning_rate: 0.00009
+learning_rate: 0.00005
 min_lr: 0.00005
 num_epoch: 100
 gradient_accumulation_steps: 32
@@ -61,6 +61,41 @@ agent_pos_config:
 #   ckpt: "/path/to/resume_model/"
 #   load_ckpt_only: true
 
+norm_stats_path: "/path/to/norm_stats.json"
+
+enable_customized_robot_config: true
+customized_robot_config:
+  name: "lerobot/aloha_mobile_cabinet"
+  customized_dof_config:
+    "action_left_shoulder" : 1
+    "action_left_elbow" : 1
+    "action_left_forearm_roll" : 1
+    "action_left_wrist_angle" : 1
+    "action_left_wrist_rotate" : 1
+    "action_left_gripper" : 1
+    "action_right_waist" : 1
+    "action_right_shoulder" : 1
+    "action_right_elbow" : 1
+    "action_right_forearm_roll" : 1
+    "action_right_wrist_angle" : 1
+    "action_right_wrist_rotate" : 1
+    "action_right_gripper" : 1
+
+  customized_agent_pos_config:
+    "state_left_shoulder" : 1
+    "state_left_elbow" : 1
+    "state_left_forearm_roll" : 1
+    "state_left_wrist_angle" : 1
+    "state_left_wrist_rotate" : 1
+    "state_left_gripper" : 1
+    "state_right_waist" : 1
+    "state_right_shoulder" : 1
+    "state_right_elbow" : 1
+    "state_right_forearm_roll" : 1
+    "state_right_wrist_angle" : 1
+    "state_right_wrist_rotate" : 1
+    "state_right_gripper" : 1
+
 # Data configuration
 data:
   use_lerobot: true