9ddbbd8e80
WIP
2024-08-06 17:17:07 +03:00
1da5caaf4b
Revert "Revove inference"
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This reverts commit ca7f207d74
2024-08-06 17:16:42 +03:00
ca7f207d74
Revove inference
2024-08-06 17:15:52 +03:00
6b9dcadbf7
Add visualize_dataset_html.py
2024-08-06 17:07:48 +03:00
f8a6574698
Add online training with TD-MPC as proof of concept ( #338 )
2024-07-25 11:16:38 +01:00
abbb1d2367
Make sure policies don't mutate the batch ( #323 )
2024-07-22 20:38:33 +01:00
0b21210d72
Convert datasets to av1 encoding ( #302 )
2024-07-22 20:08:59 +02:00
c0101f0948
Fix ACT temporal ensembling ( #319 )
2024-07-16 10:27:21 +01:00
5e54e39795
Add real robot devices and scripts to control real robot ( #288 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-07-15 17:43:10 +02:00
471eab3d7e
Make ACT compatible with "observation.environment_state" ( #314 )
2024-07-11 13:12:22 +01:00
e410e5d711
Improve video benchmark ( #282 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 20:20:25 +02:00
a4d77b99f0
Include `observation.environment_state` with keypoints in PushT dataset ( #303 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 08:27:40 +01:00
7bd5ab16d1
Fix generation of dataset test artifact ( #306 )
2024-07-05 11:02:26 +01:00
342f429f1c
Add test to make sure policy dataclass configs match yaml configs ( #292 )
2024-06-26 09:09:40 +01:00
7d1542cae1
Add VQ-BeT ( #166 )
2024-06-26 08:55:02 +01:00
48951662f2
Bug fix: missing attention mask in VAE encoder in ACT policy ( #279 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-06-19 12:07:21 +01:00
11f1cb5dc9
Bug fix: fix setting different learning rates between backbone and main model in ACT policy ( #280 )
2024-06-18 13:31:35 +01:00
e28fa2344c
added visualization for min and max transforms ( #271 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-06-17 09:09:57 +02:00
125bd93e29
Improve `push_dataset_to_hub` API + Add unit tests ( #231 )
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Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 15:18:02 +02:00
ff8f6aa6cd
Add data augmentation in LeRobotDataset ( #234 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
2024-06-11 19:20:55 +02:00
055a6f60c6
add root argument to the dataset visualizer to visualize local datasets ( #249 )
2024-06-10 10:44:32 +02:00
d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 ( #228 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 15:31:02 +02:00
504d2aaf48
add EpisodeAwareSampler ( #217 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 13:43:47 +01:00
633115d861
Fix chaining in MultiLerobotDataset ( #233 )
2024-05-31 09:03:28 +01:00
0b51a335bc
Add a test for MultiLeRobotDataset making sure it produces all frames. ( #230 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-30 17:46:25 +01:00
111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s ( #229 )
2024-05-30 16:12:21 +01:00
e3b9f1c19b
Add resume training ( #205 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 12:04:23 +01:00
e67da1d7a6
Add tutorials for using the training script and ( #196 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-21 16:47:49 +01:00
c4da689171
Hot fix to compute validation loss example test ( #200 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-20 18:30:11 +02:00
9b62c25f6c
Adds split_by_episodes to LeRobotDataset ( #158 )
2024-05-20 14:04:04 +02:00
01eae09ba6
Fix aloha real-world datasets ( #175 )
2024-05-20 13:48:09 +02:00
4d7d41cdee
Fix act action queue ( #185 )
2024-05-16 15:43:25 +01:00
c9069df9f1
Port SpatialSoftmax and remove Robomimic dependency ( #182 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-16 15:34:10 +01:00
68c1b13406
Make policies compatible with other/multiple image keys ( #149 )
2024-05-16 13:51:53 +01:00
f52f4f2cd2
Add copyrights ( #157 )
2024-05-15 12:13:09 +02:00
29a196c5dd
Fix #173 - Require gym-pusht to be installed for test_examples_3_and_2 ( #174 )
2024-05-12 08:08:59 +02:00
1249aee3ac
Enable logging all the information returned by the `forward` methods of policies ( #151 )
2024-05-10 07:45:32 +01:00
b187942db4
Add context manager for seeding ( #164 )
2024-05-09 17:58:39 +01:00
473345fdf6
Fix stats override in ACT config ( #161 )
2024-05-09 15:16:47 +01:00
e89521dfa0
Enable tests for TD-MPC ( #160 )
2024-05-09 13:42:12 +01:00
a8e245fb31
Remove loss masking from diffusion policy ( #135 )
2024-05-06 07:27:01 +01:00
f5e76393eb
Release cleanup ( #132 )
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Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
2024-05-06 03:03:14 +02:00
6eaffbef1d
Add 25 real world datasets (static + mobile aloha) ( #133 )
2024-05-05 19:13:11 +02:00
f6fe162432
Rename Diffusion Policy model repository ( #136 )
2024-05-05 12:06:58 +01:00
f3bba0270d
Remove EMA model from Diffusion Policy ( #134 )
2024-05-05 11:26:12 +01:00
c77633c38c
Add regression tests ( #119 )
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- Add `tests/scripts/save_policy_to_safetensor.py` to generate test artifacts
- Add `test_backward_compatibility to test generated outputs from the policies against artifacts
2024-05-04 16:20:30 +02:00
19812ca470
Add dataset visualization with rerun.io ( #131 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-04 16:07:14 +02:00
bccee745c3
Refactor eval.py ( #127 )
2024-05-03 17:33:16 +01:00
b2cda12f87
Add video decoding to LeRobotDataset ( #92 )
2024-05-03 00:50:19 +02:00
d1855a202a
Refactor TD-MPC ( #103 )
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Co-authored-by: Cadene <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-01 16:40:04 +01:00
Remi Cadene
Alexander Soare
Simon Alibert
Seungjae Lee
Thomas Wolf
Marina Barannikov
Thomas Lips
Radek Osmulski
Akshay Kashyap