early training loss as expected
This commit is contained in:
Alexander Soare
parent
fab2b3240b
commit
2a01487494
|
|
@ -1,15 +1,37 @@
|
|||
import copy
|
||||
from typing import Dict, Tuple, Union
|
||||
|
||||
import timm
|
||||
import torch
|
||||
import torch.nn as nn
|
||||
import torchvision
|
||||
from robomimic.models.base_nets import SpatialSoftmax
|
||||
|
||||
from lerobot.common.policies.diffusion.model.crop_randomizer import CropRandomizer
|
||||
from lerobot.common.policies.diffusion.model.module_attr_mixin import ModuleAttrMixin
|
||||
from lerobot.common.policies.diffusion.pytorch_utils import replace_submodules
|
||||
|
||||
|
||||
class RgbEncoder(nn.Module):
|
||||
"""Following `VisualCore` from Robomimic 0.2.0."""
|
||||
|
||||
def __init__(self, input_shape, model_name="resnet18", pretrained=False, num_keypoints=32):
|
||||
"""
|
||||
resnet_name: a timm model name.
|
||||
pretrained: whether to use timm pretrained weights.
|
||||
num_keypoints: Number of keypoints for SpatialSoftmax (default value of 32 matches PushT Image).
|
||||
"""
|
||||
super().__init__()
|
||||
self.backbone = timm.create_model(model_name, pretrained, num_classes=0, global_pool="")
|
||||
# Figure out the feature map shape.
|
||||
with torch.inference_mode():
|
||||
feat_map_shape = tuple(self.backbone(torch.zeros(size=(1, *input_shape))).shape[1:])
|
||||
self.pool = SpatialSoftmax(feat_map_shape, num_kp=num_keypoints)
|
||||
|
||||
def forward(self, x):
|
||||
return torch.flatten(self.pool(self.backbone(x)), start_dim=1)
|
||||
|
||||
|
||||
class MultiImageObsEncoder(ModuleAttrMixin):
|
||||
def __init__(
|
||||
self,
|
||||
|
|
@ -101,7 +123,8 @@ class MultiImageObsEncoder(ModuleAttrMixin):
|
|||
if imagenet_norm:
|
||||
# TODO(rcadene): move normalizer to dataset and env
|
||||
this_normalizer = torchvision.transforms.Normalize(
|
||||
mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]
|
||||
mean=[127.5, 127.5, 127.5],
|
||||
std=[127.5, 127.5, 127.5],
|
||||
)
|
||||
|
||||
this_transform = nn.Sequential(this_resizer, this_randomizer, this_normalizer)
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@ import torch.nn as nn
|
|||
|
||||
from lerobot.common.policies.diffusion.diffusion_unet_image_policy import DiffusionUnetImagePolicy
|
||||
from lerobot.common.policies.diffusion.model.lr_scheduler import get_scheduler
|
||||
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder
|
||||
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder, RgbEncoder
|
||||
|
||||
|
||||
class DiffusionPolicy(nn.Module):
|
||||
|
|
@ -38,7 +38,7 @@ class DiffusionPolicy(nn.Module):
|
|||
self.cfg = cfg
|
||||
|
||||
noise_scheduler = hydra.utils.instantiate(cfg_noise_scheduler)
|
||||
rgb_model = hydra.utils.instantiate(cfg_rgb_model)
|
||||
rgb_model = RgbEncoder(input_shape=shape_meta.obs.image.shape, **cfg_rgb_model)
|
||||
obs_encoder = MultiImageObsEncoder(
|
||||
rgb_model=rgb_model,
|
||||
**cfg_obs_encoder,
|
||||
|
|
|
|||
|
|
@ -84,9 +84,9 @@ obs_encoder:
|
|||
imagenet_norm: True
|
||||
|
||||
rgb_model:
|
||||
_target_: lerobot.common.policies.diffusion.pytorch_utils.get_resnet
|
||||
name: resnet18
|
||||
weights: null
|
||||
model_name: resnet18
|
||||
pretrained: false
|
||||
num_keypoints: 32
|
||||
|
||||
ema:
|
||||
_target_: lerobot.common.policies.diffusion.model.ema_model.EMAModel
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
|
||||
# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
|
||||
|
||||
[[package]]
|
||||
name = "absl-py"
|
||||
|
|
@ -573,6 +573,16 @@ files = [
|
|||
[package.dependencies]
|
||||
six = ">=1.4.0"
|
||||
|
||||
[[package]]
|
||||
name = "egl-probe"
|
||||
version = "1.0.2"
|
||||
description = ""
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
files = [
|
||||
{file = "egl_probe-1.0.2.tar.gz", hash = "sha256:29bdca7b08da1e060cfb42cd46af8300a7ac4f3b1b2eeb16e545ea16d9a5ac93"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "einops"
|
||||
version = "0.7.0"
|
||||
|
|
@ -769,6 +779,72 @@ files = [
|
|||
[package.extras]
|
||||
preview = ["glfw-preview"]
|
||||
|
||||
[[package]]
|
||||
name = "grpcio"
|
||||
version = "1.62.1"
|
||||
description = "HTTP/2-based RPC framework"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
files = [
|
||||
{file = "grpcio-1.62.1-cp310-cp310-linux_armv7l.whl", hash = "sha256:179bee6f5ed7b5f618844f760b6acf7e910988de77a4f75b95bbfaa8106f3c1e"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-macosx_12_0_universal2.whl", hash = "sha256:48611e4fa010e823ba2de8fd3f77c1322dd60cb0d180dc6630a7e157b205f7ea"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-manylinux_2_17_aarch64.whl", hash = "sha256:b2a0e71b0a2158aa4bce48be9f8f9eb45cbd17c78c7443616d00abbe2a509f6d"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fbe80577c7880911d3ad65e5ecc997416c98f354efeba2f8d0f9112a67ed65a5"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:58f6c693d446964e3292425e1d16e21a97a48ba9172f2d0df9d7b640acb99243"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:77c339403db5a20ef4fed02e4d1a9a3d9866bf9c0afc77a42234677313ea22f3"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:b5a4ea906db7dec694098435d84bf2854fe158eb3cd51e1107e571246d4d1d70"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-win32.whl", hash = "sha256:4187201a53f8561c015bc745b81a1b2d278967b8de35f3399b84b0695e281d5f"},
|
||||
{file = "grpcio-1.62.1-cp310-cp310-win_amd64.whl", hash = "sha256:844d1f3fb11bd1ed362d3fdc495d0770cfab75761836193af166fee113421d66"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-linux_armv7l.whl", hash = "sha256:833379943d1728a005e44103f17ecd73d058d37d95783eb8f0b28ddc1f54d7b2"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-macosx_10_10_universal2.whl", hash = "sha256:c7fcc6a32e7b7b58f5a7d27530669337a5d587d4066060bcb9dee7a8c833dfb7"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-manylinux_2_17_aarch64.whl", hash = "sha256:fa7d28eb4d50b7cbe75bb8b45ed0da9a1dc5b219a0af59449676a29c2eed9698"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:48f7135c3de2f298b833be8b4ae20cafe37091634e91f61f5a7eb3d61ec6f660"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:71f11fd63365ade276c9d4a7b7df5c136f9030e3457107e1791b3737a9b9ed6a"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4b49fd8fe9f9ac23b78437da94c54aa7e9996fbb220bac024a67469ce5d0825f"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:482ae2ae78679ba9ed5752099b32e5fe580443b4f798e1b71df412abf43375db"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-win32.whl", hash = "sha256:1faa02530b6c7426404372515fe5ddf66e199c2ee613f88f025c6f3bd816450c"},
|
||||
{file = "grpcio-1.62.1-cp311-cp311-win_amd64.whl", hash = "sha256:5bd90b8c395f39bc82a5fb32a0173e220e3f401ff697840f4003e15b96d1befc"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-linux_armv7l.whl", hash = "sha256:b134d5d71b4e0837fff574c00e49176051a1c532d26c052a1e43231f252d813b"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-macosx_10_10_universal2.whl", hash = "sha256:d1f6c96573dc09d50dbcbd91dbf71d5cf97640c9427c32584010fbbd4c0e0037"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-manylinux_2_17_aarch64.whl", hash = "sha256:359f821d4578f80f41909b9ee9b76fb249a21035a061a327f91c953493782c31"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a485f0c2010c696be269184bdb5ae72781344cb4e60db976c59d84dd6354fac9"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b50b09b4dc01767163d67e1532f948264167cd27f49e9377e3556c3cba1268e1"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:3227c667dccbe38f2c4d943238b887bac588d97c104815aecc62d2fd976e014b"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:3952b581eb121324853ce2b191dae08badb75cd493cb4e0243368aa9e61cfd41"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-win32.whl", hash = "sha256:83a17b303425104d6329c10eb34bba186ffa67161e63fa6cdae7776ff76df73f"},
|
||||
{file = "grpcio-1.62.1-cp312-cp312-win_amd64.whl", hash = "sha256:6696ffe440333a19d8d128e88d440f91fb92c75a80ce4b44d55800e656a3ef1d"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-linux_armv7l.whl", hash = "sha256:e3393b0823f938253370ebef033c9fd23d27f3eae8eb9a8f6264900c7ea3fb5a"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-macosx_10_10_universal2.whl", hash = "sha256:83e7ccb85a74beaeae2634f10eb858a0ed1a63081172649ff4261f929bacfd22"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-manylinux_2_17_aarch64.whl", hash = "sha256:882020c87999d54667a284c7ddf065b359bd00251fcd70279ac486776dbf84ec"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a10383035e864f386fe096fed5c47d27a2bf7173c56a6e26cffaaa5a361addb1"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:960edebedc6b9ada1ef58e1c71156f28689978188cd8cff3b646b57288a927d9"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:23e2e04b83f347d0aadde0c9b616f4726c3d76db04b438fd3904b289a725267f"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:978121758711916d34fe57c1f75b79cdfc73952f1481bb9583399331682d36f7"},
|
||||
{file = "grpcio-1.62.1-cp37-cp37m-win_amd64.whl", hash = "sha256:9084086190cc6d628f282e5615f987288b95457292e969b9205e45b442276407"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-linux_armv7l.whl", hash = "sha256:22bccdd7b23c420a27fd28540fb5dcbc97dc6be105f7698cb0e7d7a420d0e362"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-macosx_10_10_universal2.whl", hash = "sha256:8999bf1b57172dbc7c3e4bb3c732658e918f5c333b2942243f10d0d653953ba9"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-manylinux_2_17_aarch64.whl", hash = "sha256:d9e52558b8b8c2f4ac05ac86344a7417ccdd2b460a59616de49eb6933b07a0bd"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1714e7bc935780bc3de1b3fcbc7674209adf5208ff825799d579ffd6cd0bd505"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c8842ccbd8c0e253c1f189088228f9b433f7a93b7196b9e5b6f87dba393f5d5d"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:1f1e7b36bdff50103af95a80923bf1853f6823dd62f2d2a2524b66ed74103e49"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:bba97b8e8883a8038606480d6b6772289f4c907f6ba780fa1f7b7da7dfd76f06"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-win32.whl", hash = "sha256:a7f615270fe534548112a74e790cd9d4f5509d744dd718cd442bf016626c22e4"},
|
||||
{file = "grpcio-1.62.1-cp38-cp38-win_amd64.whl", hash = "sha256:e6c8c8693df718c5ecbc7babb12c69a4e3677fd11de8886f05ab22d4e6b1c43b"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-linux_armv7l.whl", hash = "sha256:73db2dc1b201d20ab7083e7041946910bb991e7e9761a0394bbc3c2632326483"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-macosx_10_10_universal2.whl", hash = "sha256:407b26b7f7bbd4f4751dbc9767a1f0716f9fe72d3d7e96bb3ccfc4aace07c8de"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-manylinux_2_17_aarch64.whl", hash = "sha256:f8de7c8cef9261a2d0a62edf2ccea3d741a523c6b8a6477a340a1f2e417658de"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9bd5c8a1af40ec305d001c60236308a67e25419003e9bb3ebfab5695a8d0b369"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:be0477cb31da67846a33b1a75c611f88bfbcd427fe17701b6317aefceee1b96f"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:60dcd824df166ba266ee0cfaf35a31406cd16ef602b49f5d4dfb21f014b0dedd"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:973c49086cabab773525f6077f95e5a993bfc03ba8fc32e32f2c279497780585"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-win32.whl", hash = "sha256:12859468e8918d3bd243d213cd6fd6ab07208195dc140763c00dfe901ce1e1b4"},
|
||||
{file = "grpcio-1.62.1-cp39-cp39-win_amd64.whl", hash = "sha256:b7209117bbeebdfa5d898205cc55153a51285757902dd73c47de498ad4d11332"},
|
||||
{file = "grpcio-1.62.1.tar.gz", hash = "sha256:6c455e008fa86d9e9a9d85bb76da4277c0d7d9668a3bfa70dbe86e9f3c759947"},
|
||||
]
|
||||
|
||||
[package.extras]
|
||||
protobuf = ["grpcio-tools (>=1.62.1)"]
|
||||
|
||||
[[package]]
|
||||
name = "gym"
|
||||
version = "0.26.2"
|
||||
|
|
@ -1076,6 +1152,21 @@ files = [
|
|||
{file = "llvmlite-0.42.0.tar.gz", hash = "sha256:f92b09243c0cc3f457da8b983f67bd8e1295d0f5b3746c7a1861d7a99403854a"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "markdown"
|
||||
version = "3.5.2"
|
||||
description = "Python implementation of John Gruber's Markdown."
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "Markdown-3.5.2-py3-none-any.whl", hash = "sha256:d43323865d89fc0cb9b20c75fc8ad313af307cc087e84b657d9eec768eddeadd"},
|
||||
{file = "Markdown-3.5.2.tar.gz", hash = "sha256:e1ac7b3dc550ee80e602e71c1d168002f062e49f1b11e26a36264dafd4df2ef8"},
|
||||
]
|
||||
|
||||
[package.extras]
|
||||
docs = ["mdx-gh-links (>=0.2)", "mkdocs (>=1.5)", "mkdocs-gen-files", "mkdocs-literate-nav", "mkdocs-nature (>=0.6)", "mkdocs-section-index", "mkdocstrings[python]"]
|
||||
testing = ["coverage", "pyyaml"]
|
||||
|
||||
[[package]]
|
||||
name = "markupsafe"
|
||||
version = "2.1.5"
|
||||
|
|
@ -2259,6 +2350,30 @@ urllib3 = ">=1.21.1,<3"
|
|||
socks = ["PySocks (>=1.5.6,!=1.5.7)"]
|
||||
use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
|
||||
|
||||
[[package]]
|
||||
name = "robomimic"
|
||||
version = "0.2.0"
|
||||
description = "robomimic: A Modular Framework for Robot Learning from Demonstration"
|
||||
optional = false
|
||||
python-versions = ">=3"
|
||||
files = [
|
||||
{file = "robomimic-0.2.0.tar.gz", hash = "sha256:ee3bb5cf9c3e1feead6b57b43c5db738fd0a8e0c015fdf6419808af8fffdc463"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
egl_probe = ">=1.0.1"
|
||||
h5py = "*"
|
||||
imageio = "*"
|
||||
imageio-ffmpeg = "*"
|
||||
numpy = ">=1.13.3"
|
||||
psutil = "*"
|
||||
tensorboard = "*"
|
||||
tensorboardX = "*"
|
||||
termcolor = "*"
|
||||
torch = "*"
|
||||
torchvision = "*"
|
||||
tqdm = "*"
|
||||
|
||||
[[package]]
|
||||
name = "safetensors"
|
||||
version = "0.4.2"
|
||||
|
|
@ -2746,6 +2861,55 @@ files = [
|
|||
[package.dependencies]
|
||||
mpmath = ">=0.19"
|
||||
|
||||
[[package]]
|
||||
name = "tensorboard"
|
||||
version = "2.16.2"
|
||||
description = "TensorBoard lets you watch Tensors Flow"
|
||||
optional = false
|
||||
python-versions = ">=3.9"
|
||||
files = [
|
||||
{file = "tensorboard-2.16.2-py3-none-any.whl", hash = "sha256:9f2b4e7dad86667615c0e5cd072f1ea8403fc032a299f0072d6f74855775cc45"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
absl-py = ">=0.4"
|
||||
grpcio = ">=1.48.2"
|
||||
markdown = ">=2.6.8"
|
||||
numpy = ">=1.12.0"
|
||||
protobuf = ">=3.19.6,<4.24.0 || >4.24.0"
|
||||
setuptools = ">=41.0.0"
|
||||
six = ">1.9"
|
||||
tensorboard-data-server = ">=0.7.0,<0.8.0"
|
||||
werkzeug = ">=1.0.1"
|
||||
|
||||
[[package]]
|
||||
name = "tensorboard-data-server"
|
||||
version = "0.7.2"
|
||||
description = "Fast data loading for TensorBoard"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
files = [
|
||||
{file = "tensorboard_data_server-0.7.2-py3-none-any.whl", hash = "sha256:7e0610d205889588983836ec05dc098e80f97b7e7bbff7e994ebb78f578d0ddb"},
|
||||
{file = "tensorboard_data_server-0.7.2-py3-none-macosx_10_9_x86_64.whl", hash = "sha256:9fe5d24221b29625dbc7328b0436ca7fc1c23de4acf4d272f1180856e32f9f60"},
|
||||
{file = "tensorboard_data_server-0.7.2-py3-none-manylinux_2_31_x86_64.whl", hash = "sha256:ef687163c24185ae9754ed5650eb5bc4d84ff257aabdc33f0cc6f74d8ba54530"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tensorboardx"
|
||||
version = "2.6.2.2"
|
||||
description = "TensorBoardX lets you watch Tensors Flow without Tensorflow"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
files = [
|
||||
{file = "tensorboardX-2.6.2.2-py2.py3-none-any.whl", hash = "sha256:160025acbf759ede23fd3526ae9d9bfbfd8b68eb16c38a010ebe326dc6395db8"},
|
||||
{file = "tensorboardX-2.6.2.2.tar.gz", hash = "sha256:c6476d7cd0d529b0b72f4acadb1269f9ed8b22f441e87a84f2a3b940bb87b666"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
numpy = "*"
|
||||
packaging = "*"
|
||||
protobuf = ">=3.20"
|
||||
|
||||
[[package]]
|
||||
name = "tensordict"
|
||||
version = "0.4.0+551331d"
|
||||
|
|
@ -2802,6 +2966,24 @@ numpy = "*"
|
|||
[package.extras]
|
||||
all = ["defusedxml", "fsspec", "imagecodecs (>=2023.8.12)", "lxml", "matplotlib", "zarr"]
|
||||
|
||||
[[package]]
|
||||
name = "timm"
|
||||
version = "0.9.16"
|
||||
description = "PyTorch Image Models"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "timm-0.9.16-py3-none-any.whl", hash = "sha256:bf5704014476ab011589d3c14172ee4c901fd18f9110a928019cac5be2945914"},
|
||||
{file = "timm-0.9.16.tar.gz", hash = "sha256:891e54f375d55adf31a71ab0c117761f0e472f9f3971858ecdd1e7376b7071e6"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
huggingface_hub = "*"
|
||||
pyyaml = "*"
|
||||
safetensors = "*"
|
||||
torch = "*"
|
||||
torchvision = "*"
|
||||
|
||||
[[package]]
|
||||
name = "tomli"
|
||||
version = "2.0.1"
|
||||
|
|
@ -3086,6 +3268,23 @@ perf = ["orjson"]
|
|||
reports = ["pydantic (>=2.0.0)"]
|
||||
sweeps = ["sweeps (>=0.2.0)"]
|
||||
|
||||
[[package]]
|
||||
name = "werkzeug"
|
||||
version = "3.0.1"
|
||||
description = "The comprehensive WSGI web application library."
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "werkzeug-3.0.1-py3-none-any.whl", hash = "sha256:90a285dc0e42ad56b34e696398b8122ee4c681833fb35b8334a095d82c56da10"},
|
||||
{file = "werkzeug-3.0.1.tar.gz", hash = "sha256:507e811ecea72b18a404947aded4b3390e1db8f826b494d76550ef45bb3b1dcc"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
MarkupSafe = ">=2.1.1"
|
||||
|
||||
[package.extras]
|
||||
watchdog = ["watchdog (>=2.3)"]
|
||||
|
||||
[[package]]
|
||||
name = "zarr"
|
||||
version = "2.17.0"
|
||||
|
|
@ -3125,4 +3324,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
|
|||
[metadata]
|
||||
lock-version = "2.0"
|
||||
python-versions = "^3.10"
|
||||
content-hash = "c4d83579aed1c8c2e54cad7c8ec81b95a09ab8faff74fc9a4cb20bd00e4ddec6"
|
||||
content-hash = "adc2cbe447c2ebe4a7273a4a849d725f6df56106e0f6bf178cf798de5d6337e2"
|
||||
|
|
|
|||
|
|
@ -48,6 +48,8 @@ opencv-python = "^4.9.0.80"
|
|||
diffusers = "^0.26.3"
|
||||
torchvision = "^0.17.1"
|
||||
h5py = "^3.10.0"
|
||||
robomimic = "0.2.0"
|
||||
timm = "^0.9.16"
|
||||
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
|
|
|
|||
Loading…
Reference in New Issue