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jouillet merged 1 commit into from
Mar 18, 2026
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[Robotics] [Docs] Updates found from testing #2178

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2 changes: 2 additions & 0 deletions robotics-ai-suite/docs/embodied/sample_pipelines/ORB_VSLAM.rst
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Expand Up @@ -75,6 +75,8 @@ This Demo uses EUROC dataset to test ORB-SLAM3 monocular mode.

NOTE: This demo uses MH_04_difficult dataset. If you want to try other dataset, you may download them from the link: https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets.

Please download EUROC Machine Hall datasets from https://www.research-collection.ethz.ch/entities/researchdata/bcaf173e-5dac-484b-bc37-faf97a594f1f if there are any issues with the above links.

#. Launch ORB-SLAM3 Demo pipeline

Run the below commands in a bash terminal:
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8 changes: 7 additions & 1 deletion robotics-ai-suite/docs/embodied/sample_pipelines/imitation_learning_act.rst
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Expand Up @@ -63,6 +63,12 @@ Install the dependencies with the following command:

pip install torch==2.7.1 torchvision==0.22.1 pyquaternion==0.9.9 pyyaml==6.0 rospkg==1.5.0 pexpect==4.8.0 mujoco==3.2.6 dm_control==1.0.26 matplotlib==3.10.0 einops==0.6.0 packaging==23.0 h5py==3.12.1 ipython==8.12.0 opencv-python==4.10.0.84 transformers==4.37.0 accelerate==0.23.0 huggingface-hub==0.24.7

.. note::

Usually, pip tries to download a a pre-compiled wheel package so you don't have to build anything in this step. Maintainers may have not uploaded pre-compiled wheels for versions newer than the LTS version yet.

Because of this, pip may fall back to building from source, which triggers the need for compilers and tools like Bazel. Additional build tools may be required to build some of the dependencies from source. If you encounter errors during installation, either switch to a different python version or check the error messages for missing tools or libraries and install them accordingly.

Install ACT package
:::::::::::::::::::

Expand Down Expand Up @@ -145,7 +151,7 @@ Below is a camera viewer showcasing four different camera perspectives, the left
``--eval`` is used to evaluate the policy.
``--device`` is used to set the device to CPU or GPU.
``--temporal_agg`` can be used to enable the temporal aggregation algorithm.
``--onscreen_render`` can be used to enable onscreen rendering.
``--onscreen_render`` can be used to enable onscreen rendering (requires python3-tk debian package install).
``MUJOCO_GL=egl`` environment variable can be set to enable EGL rendering, which provides better performance in simulation scenarios.

If the script throws an ``unrecognized arguments --device`` error, then the updated ACT package has not been installed correctly. Ensure to run ``pip install -e .`` in the correct directory.
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2 changes: 1 addition & 1 deletion ...tics-ai-suite/docs/embodied/sample_pipelines/robotics_diffusion_transformer.rst
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Expand Up @@ -195,7 +195,7 @@ Inference
cd <rdt_SOURCE_CODE_PATH>
mkdir google & cd google
sudo apt install git-lft
sudo apt install git-lfs
GIT_LFS_SKIP_SMUDGE=1 git clone https://hf-mirror.com/google/t5-v1_1-xxl
cd t5-v1_1-xxl
git lfs pull
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