Zima · 2025-12-29 · 5 hours
Goal: Implement Zima LeRobot interface and continue VLA readings and implementation planning
Work Done:
- installed lerobot and finalized communication architecture design
- looked for observation and action format requirements for various policies supported by LeRobot
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Successes:
- got a lead on figuring out how observations and actions get adapted to policy formats
- https://huggingface.co/docs/lerobot/en/introduction_processors
Failures:
- Still cant figure out how the data gets converted from robot format to batched policy formats, need to find a better example
Next steps:
- figure out what observation and action format ACT needs in LeRobot
- adjust zima robot output? Maybe this should be adjusted in post processing on a per policy basis since most will have different requirements?
Time spent: 5 hours