Add low-pass filter to make robot actions smooth. Integrated into ACT and DP. #760
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Nice work! By any chance do you have videos? Before vs After ? |
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@Cadene The before vs after demo for action smoothing. Its more prominent for DP than ACT. before_action_smoothing.mp4after_action_smoothing.mp4 |
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Hello @vaishanth-rmrj, thanks for the PR! It seems that you committed to into the |
imstevenpmwork
added
enhancement
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@imstevenpmwork Thanks for noticing that. I have updated the |
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What this does
Adds low-pass filter (Butterworth filtering) to actions from the policy. Prevents jerky motion of the robot during eval. Tried out different techniques but the method provided noticeable improvement. I have tuned the filter parameters to be subtle and not too aggressive.
(⚡️ Performance)
How it was tested
Tested on rollouts of both ACT and Diffusion policy trained on my custom dataset. Used SO-100 Arm for my setup. Noticeable difference in the robot motion smoothness especially for Diffusion Policy.
How to checkout & try? (for the reviewer)
Try evaluating ACT and DP on your robot. This PR integrates the smoothen_actions func in ACT and DP policy implementation so there is nothing extra to be done.