Metadata-Version: 2.4
Name: sparkmind
Version: 2.0.0rc2
Summary: Unified Robot Skill Learning Framework
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Description-Content-Type: text/markdown
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![SparkMind logo](./imgs/logo.png)

# SparkMind

Unified robot skill learning on top of **Hydra**, **LeRobot**, and (for RL) **Isaac Gym / RofuncRL**-style stacks. Training scripts live under [`examples/`](examples/).

---

## Supported algorithms

<table>
<thead>
<tr>
<th align="left">Area</th>
<th align="left">Algorithm / model</th>
</tr>
</thead>
<tbody>
<tr>
<td rowspan="2" valign="top"><strong>IL</strong><br><small>imitation learning</small></td>
<td><a href="examples/learning_il/01a_demo_ACT.py"><strong>ACT</strong> (Action Chunking Transformer)</a></td>
</tr>
<tr>
<td><a href="examples/learning_il/02_demo_DP.py"><strong>Diffusion policy</strong></a></td>
</tr>
<tr>
<td rowspan="4" valign="top"><strong>RL</strong><br><small>reinforcement learning</small></td>
<td><a href="examples/learning_rl/01_demo_HumanoidAMP.py"><strong>Humanoid AMP</strong> (RofuncRL, Isaac Gym)</a></td>
</tr>
<tr>
<td><a href="examples/learning_rl/02a_demo_HumanoidHOTU.py"><strong>HOTU</strong> (skill transfer, RofuncRL)</a></td>
</tr>
<tr>
<td><a href="examples/learning_rl/02b_demo_HumanoidHOTU_ViewMotion.py">HOTU (view / motion)</a></td>
</tr>
<tr>
<td><a href="examples/learning_rl/03_demo_HumanGPT_RofuncRL.py"><strong>HumanGPT</strong> (humanoid imitation, RofuncRL)</a></td>
</tr>
<tr>
<td rowspan="6" valign="top"><strong>VLA</strong><br><small>vision–language–action</small></td>
<td><a href="examples/learning_vla/01_demo_SmolVLA.py"><strong>SmolVLA</strong></a></td>
</tr>
<tr>
<td><a href="examples/learning_vla/02_demo_XVLA.py"><strong>XVLA</strong></a></td>
</tr>
<tr>
<td><a href="examples/learning_vla/03_demo_PI0.py"><strong>π₀ (PI0)</strong></a></td>
</tr>
<tr>
<td><a href="examples/learning_vla/04_demo_PI05.py"><strong>π₀.₅ (PI05)</strong></a></td>
</tr>
<tr>
<td><a href="examples/learning_vla/05_demo_Groot.py"><strong>GR00T</strong></a></td>
</tr>
<tr>
<td><a href="examples/learning_vla/06_demo_WallX.py"><strong>Wall-X</strong></a></td>
</tr>
</tbody>
</table>

---

## Installation

**Requirements:** Python **3.12**, `pip`, and a clone of this repository.

```bash
cd /path/to/SparkMind
# Core package
pip install -e .

# AWS/LIBERO training image equivalent extras
pip install -e ".[aws]"
```

Optional extras include `aws`, `libero`, `aloha`, `pusht`, `envs`, `pi`, and `dev`.

**[docs/lerobot_commands.md](docs/lerobot_commands.md)**
