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45 Commits

Author SHA1 Message Date
Nur Muhammad "Mahi" Shafiullah 10a209e42d
Merge ef8579eacd into 1c873df5c0 2025-04-05 10:29:55 +08:00
mshukor 1c873df5c0
Support for PI0+FAST (#921) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-04 11:51:11 +02:00
Steven Palma 5e9473806c
refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Mahi Shafiullah ef8579eacd Resolved merge conflict with pi0 2025-02-04 13:58:55 -05:00
Remi 638d411cd3
Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
Mahi Shafiullah d4e7b355a9 Add flow policy with diffusion transformer, initial push. 2025-02-02 17:54:19 -05:00
Simon Alibert 3c0a209f9f
Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +01:00
Alexander Soare 342f429f1c
Add test to make sure policy dataclass configs match yaml configs (#292) 2024-06-26 09:09:40 +01:00
Seungjae Lee 7d1542cae1
Add VQ-BeT (#166) 2024-06-26 08:55:02 +01:00
Simon Alibert f52f4f2cd2
Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Alexander Soare 47de07658c
Override pretrained model config (#147) 2024-05-08 12:56:21 +01:00
Alexander Soare c1668924ab
Fix missing `policy.to(device)` in policy factory (#126) 2024-05-01 17:26:58 +01:00
Alexander Soare d1855a202a
Refactor TD-MPC (#103) 
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
Alexander Soare a4891095e4
Use PytorchModelHubMixin to save models as safetensors (#125) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-01 16:17:18 +01:00
Alexander Soare 01d5490d44
Follow `transformers` single file naming conventions (#124) 2024-05-01 13:09:42 +01:00
Alexander Soare 9d60dce6f3
Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Remi e760e4cd63
Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +02:00
Simon Alibert 7ad1909641
Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +02:00
Alexander Soare 03b08eb74e backup wip 2024-04-16 12:51:32 +01:00
Alexander Soare 5608e659e6 backup wip 2024-04-15 19:06:44 +01:00
Alexander Soare 14f3ffb412 Merge remote-tracking branch 'upstream/main' into refactor_dp 2024-04-15 17:08:28 +01:00
Alexander Soare 30023535f9 revision 1 2024-04-15 10:56:43 +01:00
Alexander Soare 40d417ef60 Make sure to make remove all traces of omegaconf from policy config 2024-04-15 09:59:18 +01:00
Alexander Soare 55e484124a draft pr 2024-04-12 17:03:59 +01:00
Alexander Soare 94cc22da9e Merge remote-tracking branch 'upstream/main' into refactor_dp 2024-04-11 17:52:10 +01:00
Alexander Soare 976a197f98 backup wip 2024-04-11 17:51:35 +01:00
Cadene 7c8eb7ff19 Merge remote-tracking branch 'origin/user/rcadene/2024_03_31_remove_torchrl' into user/rcadene/2024_03_31_remove_torchrl 2024-04-10 11:34:51 +00:00
Cadene 06573d7f67 online training works (loss goes down), remove repeat_action, eval_policy outputs episodes data, eval_policy uses max_episodes_rendered 2024-04-10 11:34:01 +00:00
Alexander Soare e6c6c2367f Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 08:36:28 +01:00
Cadene 6902e01db0 tests are passing for aloha/act policies, removes abstract policy 2024-04-09 03:28:56 +00:00
Cadene 73dfa3c8e3 tests for tdmpc and diffusion policy are passing 2024-04-09 02:50:32 +00:00
Alexander Soare 1bab4a1dd5 Eval reproduction works with gym_aloha 2024-04-08 10:23:26 +01:00
Cadene 4371a5570d Remove latency, tdmpc policy passes tests (TODO: make it work with online RL) 2024-04-07 16:01:22 +00:00
Alexander Soare 1a1308d62f fix environment seeding 
add fixes for reproducibility

only try to start env if it is closed

revision

fix normalization and data type

Improve README

Improve README

Tests are passing, Eval pretrained model works, Add gif

Update gif

Update gif

Update gif

Update gif

Update README

Update README

update minor

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Address suggestions

Update thumbnail + stats

Update thumbnail + stats

Update README.md

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Add more comments

Add test_examples.py
 2024-03-26 10:10:43 +00:00
Alexander Soare 896a11f60e backup wip 2024-03-19 18:50:04 +00:00
Remi Cadene 9d002032d1 Add Aloha env and ACT policy 
WIP Aloha env tests pass

Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])

Update README

Copy past from act repo

Remove download.py add a WIP for Simxarm

Remove download.py add a WIP for Simxarm

Add act yaml (TODO: try train.py)

Training can runs (TODO: eval)

Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)

Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)

poetry lock

fix bug in compute_stats for action normalization

fix more bugs in normalization

fix training

fix import

PushtEnv inheriates AbstractEnv, Improve factory Normalization

Add _make_env to EnvAbstract

Add call_rendering_hooks to pusht env

SimxarmEnv inherites from AbstractEnv (NOT TESTED)

Add aloha tests artifacts + update pusht stats

fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]

Small fix on simxarm

Add next to obs

Add top camera to Aloha env (TODO: make it compatible with set of cameras)

Add top camera to Aloha env (TODO: make it compatible with set of cameras)
 2024-03-12 10:27:48 +00:00
Simon Alibert 59397fb44a Move tdmpc files 2024-03-09 18:44:36 +01:00
Simon Alibert a6d353c419 Fix 2024-03-05 17:00:17 +01:00
Simon Alibert b33ec5a630 Add run on cpu-only compatibility 2024-03-03 12:47:26 +01:00
Remi Cadene 80785f8d0e Small fix, Refactor diffusion, Diffusion runs (TODO: remove normalization in diffusion) 2024-03-02 17:04:39 +00:00
Cadene cf5063e50e Add diffusion policy (train and eval works, TODO: reproduce results) 2024-02-28 15:21:42 +00:00
Cadene 21670dce90 Refactor train, eval_policy, logger, Add diffusion.yaml (WIP) 2024-02-26 01:10:09 +00:00
Cadene b16c334825 Refactor configs to have env in seperate yaml + Fix training 2024-02-25 17:42:47 +00:00
Cadene e765e26b0b Sanitize cfg.policy, Fix skip_frame pusht.yaml 2024-02-25 11:09:02 +00:00
Cadene 598bb496b0 Add policies/factory, Add test, Add _self_ in config 2024-02-25 10:50:23 +00:00