feat: add arms latent pipelines and configs#71

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Lau-JW wants to merge 11 commits intoRobbyant:mainfrom

Lau-JW:arms-ROCM-posttraining

Commits on Apr 17, 2026

feat: add arms latent pipelines and configs
Lau-JW
committed

Commits on Apr 18, 2026

feat: add gripper aggregation and grasp heuristic
Lau-JW
committed

Commits on Apr 20, 2026

docs: add MI300X arms post-train runbook and harden lerobot local dataset init
cursor-agent
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fix: avoid DataLoader worker deadlocks after CUDA/FSDP init
cursor-agent
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chore: enable W&B by default for arms_train
cursor-agent
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fix: cap MultiLatentLeRobotDataset init multiprocessing workers
cursor-agent
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fix: use spawn for dataset init pool and make arms paths env-overridable
cursor-agent
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fix: cast text_emb to param dtype in training input
cursor-agent
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chore: set arms_train steps to 10000
cursor-agent
committed

Commits on Apr 21, 2026

feat: add RESUME=1 auto-resume from latest checkpoint
cursor-agent
committed

Commits on Apr 22, 2026

fix: improve ARMS inference output formatting
cursor-agent
committed