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
111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s ( #229 )
2024-05-30 16:12:21 +01:00
265b0ec44d
Refactor env to add key word arguments from config yaml ( #223 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-30 13:45:22 +02:00
2c2e4e14ed
Add `aloha_dora_format.py` ( #201 )
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Co-authored-by: Thomas Wolf <thomwolf@users.noreply.github.com>
2024-05-30 11:26:39 +02:00
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
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
f52f4f2cd2
Add copyrights ( #157 )
2024-05-15 12:13:09 +02:00
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
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
b2cda12f87
Add video decoding to LeRobotDataset ( #92 )
2024-05-03 00:50:19 +02:00
9d60dce6f3
Tidy up yaml configs ( #121 )
2024-04-30 16:08:59 +01:00
e4e739f4f8
Refactor push_dataset_to_hub ( #118 )
2024-04-30 14:25:41 +02:00
2765877f28
Speed up CI, add more checks ( #115 )
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- Split pytest and end-to-end tests into separate jobs
- Add poetry check to ensure pyproject.toml and poetry.lock are in sync
- Add ruff format --diff to ensure style formatting is applied (fails if ruff would reformat anything)
2024-04-29 23:05:55 +02:00
1ec5f77f7c
Remove mask check key in XarmProcessor ( #117 )
2024-04-29 22:00:37 +02:00
5b4fd8891d
Update UmiProcessor default fps to 10 ( #116 )
2024-04-29 12:11:34 +02:00
55dc9f7f51
Refactor the download and publication of the datasets and convert it into CLI script ( #95 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-29 00:08:17 +02:00
81e490d46f
Add UMI-gripper dataset ( #83 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-28 18:41:07 +02:00
659c69a1c0
Refactor datasets into LeRobotDataset ( #91 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 12:23:12 +02:00
e760e4cd63
Move normalization to policy for act and diffusion ( #90 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 11:47:38 +02:00
1030ea0070
Loads episode_data_index and stats during dataset __init__ ( #85 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-23 14:13:25 +02:00
8d980940a2
Fix tolerance for delta_timestamps ( #84 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-18 18:48:22 +01:00
7ad1909641
Tests cleaning & simplification ( #81 )
2024-04-18 14:47:42 +02:00
0928afd37d
Improve dataset examples ( #82 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-18 11:43:16 +02:00
c9454333d8
revision
2024-04-17 09:02:35 +01:00
1331d3b4e4
fix issue with saving freshly computed stats
2024-04-17 08:49:28 +01:00
4327e43f19
fix merge thingy
2024-04-16 17:24:25 +00:00
36d9e885ef
Address comments
2024-04-16 17:20:54 +00:00
4a3eac4743
fix unit tests, stats was missing, visualize_dataset was broken
2024-04-16 17:20:53 +00:00
0980fff6cc
HF datasets works
2024-04-16 17:19:40 +00:00
5edd9a89a0
Move stats_dataset init into else statement -> faster init
2024-04-16 17:19:39 +00:00
67d79732f9
Add download_and_upload_dataset.py in script, update all datasets, update online training
2024-04-16 17:19:39 +00:00
c6aca7fe44
For Pusht: use hf datasets to train, rename load_data_with_delta_timestamps -> load_previous_and_future_frames
2024-04-16 17:19:06 +00:00
03b08eb74e
backup wip
2024-04-16 12:51:32 +01:00
94cc22da9e
Merge remote-tracking branch 'upstream/main' into refactor_dp
2024-04-11 17:52:10 +01:00
976a197f98
backup wip
2024-04-11 17:51:35 +01:00
c1a618e567
fix pusht images type from float32 to uint8, update gym-pusht dependencies
2024-04-11 14:29:16 +00:00
657b27cc8f
fix load_data_with_delta_timestamps and add tests
2024-04-11 13:00:09 +00:00
3914831585
remove __name__ outside script
2024-04-10 17:16:44 +00:00
f8c5a2eb10
remove comment
2024-04-10 17:14:02 +00:00
9874652c2f
enable test_compute_stats
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enable test_compute_stats
2024-04-10 17:12:54 +00:00
e8622154f8
Replace import gym_pusht in pusht dataset by dynamic import
2024-04-10 15:56:18 +00:00
c08003278e
test_examples are passing
2024-04-10 13:45:45 +00:00
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
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
50e4c8050c
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 17:13:11 +01:00
9c96349926
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 15:44:00 +01:00
3f6dfa4916
Add gym-aloha, rename simxarm -> xarm, refactor
2024-04-08 16:24:11 +02:00
70aaf1c4cb
test_datasets.py are passing!
2024-04-08 14:16:57 +00:00
863f28ffd8
ready for review
2024-04-08 13:10:19 +01:00
e982c732f1
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-08 09:25:45 +01:00
4371a5570d
Remove latency, tdmpc policy passes tests (TODO: make it work with online RL)
2024-04-07 16:01:22 +00:00
44656d2706
test_envs are passing
2024-04-05 23:27:12 +00:00
1e71196fe3
backup wip
2024-04-05 17:38:29 +01:00
4863e54ce9
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 12:00:31 +01:00
ad3379a73a
fix memory leak due to itertools.cycle
2024-04-05 10:59:32 +00:00
9d77f5773d
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 11:41:11 +01:00
5af00d0c1e
fix train.py, stats, eval.py (training is running)
2024-04-05 09:31:39 +00:00
c93ce35d8c
WIP stats (TODO: run tests on stats + cmpute them)
2024-04-04 16:36:03 +00:00
1cdfbc8b52
WIP
...
WIP
WIP train.py works, loss going down
WIP eval.py
Fix
WIP (eval running, TODO: verify results reproduced)
Eval works! (testing reproducibility)
WIP
pretrained model pusht reproduces same results as torchrl
pretrained model pusht reproduces same results as torchrl
Remove AbstractPolicy, Move all queues in select_action
WIP test_datasets passed (TODO: re-enable NormalizeTransform)
2024-04-04 15:31:03 +00:00
c7d70a8db9
Merge remote-tracking branch 'upstream/main' into refactor_act
2024-04-03 10:08:12 +01:00
caf4ffcf65
add TODO
2024-04-03 09:56:46 +01:00
c50a62dd6d
clarifying math
2024-04-03 09:47:38 +01:00
e9eb262293
numerically sound mean computation
2024-04-03 09:44:20 +01:00
65ef8c30d0
backup wip
2024-04-02 19:13:49 +01:00
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
a6edb85da4
Remove random sampling
2024-04-02 16:52:38 +01:00
95293d459d
fix stats computation
2024-04-02 16:40:33 +01:00
68d02c80cf
Remove b/c workaround
2024-03-27 12:03:19 +00:00
9ced0cf1fb
unskip
2024-03-26 10:45:31 +00:00
5a46b8a2a9
fix tests
2024-03-26 10:24:46 +00:00
1a1308d62f
fix environment seeding
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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
c5635b7d94
Minor fixes for #47
2024-03-25 18:50:47 +01:00
d3adaf1379
Add stat.pth for xarm_lift_medium
2024-03-25 15:55:45 +01:00
c0833f1c2d
Remove simxarm download and preproc hack
2024-03-25 12:41:17 +01:00
de5c30405e
fix wrong version
2024-03-25 12:35:06 +01:00
462e7469e8
Add xarm_lift_medium revision 1.0 to hub
2024-03-25 12:28:07 +01:00
b905111895
fix render issue
2024-03-25 12:28:07 +01:00
1c24bbda3f
WIP Upgrading simxam from mujoco-py to mujoco python bindings
2024-03-25 12:28:07 +01:00
d2ef43436c
move from cadene to lerobot
2024-03-23 13:34:35 +00:00
40f3783fca
v1.2
2024-03-23 11:41:56 +00:00
8720c568d0
Add ability to eval hub model
2024-03-22 10:26:55 +00:00
82e6e01651
v1.1
2024-03-20 17:34:00 +00:00
d16f6a93b3
Merge remote-tracking branch 'upstream/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-20 09:01:45 +00:00
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
7d5d99e036
Address more comments
2024-03-19 16:53:07 +00:00
10034e85c4
Aloha done
2024-03-19 16:03:42 +00:00
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
6a1a29386a
Add replay_buffer directory in pusht datasets + aloha (WIP)
2024-03-19 15:49:45 +00:00
b752833f3f
fix download
2024-03-15 13:19:18 +00:00
5805a7ffb1
small fix in type + comments
2024-03-15 12:44:52 +00:00
41521f7e96
self.root is Path or None + The following packages are already present in the pyproject.toml and will be skipped:
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- huggingface-hub
If you want to update it to the latest compatible version, you can use `poetry update package`.
If you prefer to upgrade it to the latest available version, you can use `poetry add package@latest`.
Nothing to add.
2024-03-15 10:56:46 +00:00
b10c9507d4
Small fix
2024-03-15 00:36:55 +00:00
a311d38796
Add aloha + improve readme
2024-03-15 00:30:11 +00:00
19730b3412
Add pusht on hf dataset (WIP)
2024-03-14 16:59:37 +00:00
9d002032d1
Add Aloha env and ACT policy
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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
Remi
Radek Osmulski
Alexander Soare
Simon Alibert
Adil Zouitine
Simon Alibert