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
70e8de95f7
Clean & update pyproject
2024-04-16 12:09:56 +02:00
575891e8ac
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-09 15:19:29 +01:00
dfaacbcf5a
Split dev/test dependencies
2024-04-09 10:40:11 +02:00
2573e89e1d
Remove direct dependencies
2024-04-09 10:38:08 +02:00
e6c6c2367f
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-09 08:36:28 +01:00
19e7661b8d
Remove torchrl/tensordict from dependecies + update poetry cpu
2024-04-09 03:50:49 +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
3f6dfa4916
Add gym-aloha, rename simxarm -> xarm, refactor
2024-04-08 16:24:11 +02:00
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
ab2286025b
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 18:06:00 +01:00
1e71196fe3
backup wip
2024-04-05 17:38:29 +01:00
ab3cd3a7ba
(WIP) Add gym-xarm
2024-04-05 15:35:20 +02:00
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
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
278336a39a
backup wip
2024-04-03 19:23:22 +01:00
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
58df2066a9
Add pytest-cov
2024-03-28 10:35:11 +01:00
643d64e2a8
Add cmake
2024-03-27 16:33:26 +01:00
0fae5b206b
Allow mujoco minor revision updates
2024-03-25 17:25:55 +01:00
dc89166bee
Upgrade gym to gymnasium
2024-03-25 15:12:21 +01:00
0c41675986
fix __init__ import Base
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
acf1174447
ready for review
2024-03-21 10:18:50 +00:00
5332766a82
revision
2024-03-20 09:45:45 +00:00
a45896dc8d
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 13:05:35 +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
9512d1d2f3
Merge branch 'main' into user/alexander-soare/train_pusht
2024-03-12 19:41:27 +00:00
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
2a01487494
early training loss as expected
2024-03-11 13:34:04 +00:00
225eebde40
Add dynamic build versioning
2024-03-11 12:10:46 +01:00
7982425670
Remove diffusion-policy dependency
2024-03-10 16:36:30 +01:00
7d33b437fa
Add h5py
2024-03-06 12:28:20 +01:00
7a20ef65f6
Add CI, Remove old install files
2024-03-05 16:03:03 +01:00
0e0e760e43
Added pre-commit
2024-02-29 12:27:30 +01:00
d5bfeadcf1
Added poetry setup
2024-02-28 19:12:56 +01:00
Cadene
Simon Alibert
Alexander Soare