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138 Commits

Author SHA1 Message Date
Remi Cadene 1e2d6099f2 tests/data/save_policy_to_safetensors/pusht_diffusion/output_dict.safetensors: convert to Git LFS 2024-05-19 19:58:33 +00:00
Remi Cadene 290931d872 tests/data/save_policy_to_safetensors/pusht_diffusion/grad_stats.safetensors: convert to Git LFS 2024-05-19 19:58:27 +00:00
Remi Cadene 931c5f9168 tests/data/save_policy_to_safetensors/pusht_diffusion/actions.safetensors: convert to Git LFS 2024-05-19 19:57:42 +00:00
Remi Cadene e1337aec71 pre-commit run --all-files 2024-05-19 19:56:06 +00:00
Remi Cadene a5098d7bf3 update aloha 2024-05-19 19:43:21 +00:00
Remi Cadene 155b3fdcf2 update aloha_act 2024-05-19 19:30:20 +00:00
Remi Cadene ed50e519bc require cpu for test_policies 2024-05-19 19:08:32 +00:00
Remi Cadene 62ec7227e1 revert tests/data/save_policy_to_safetensors/ 2024-05-19 17:53:42 +00:00
Remi Cadene ce499e506d tests/data/save_dataset_to_safetensors 2024-05-19 17:41:49 +00:00
Remi Cadene 28d72b9954 Update aloha_sim* 2024-05-19 17:27:05 +02:00
Remi Cadene db7d12bf64 Update aloha_sim_*_image 2024-05-19 16:51:50 +02:00
Remi Cadene 2d0012e663 Add tests aloha_mobile aloha_static 2024-05-19 15:28:28 +02:00
Remi Cadene 58f69d203b git lfs track *.json *.arrow *.mp4 2024-05-19 15:24:18 +02:00
Remi Cadene c6fe57ede6 Add _image datasets in tests/data 2024-05-17 14:50:13 +00:00
Remi Cadene 1d9433b411 WIP 
Add hf-transfer, num_workers 8

gc collect, rmtree save_to_disk False

Track .safetensors in git lfs

run save_dataset_to_safetensors on all datasets

Update datasets

Update download_raw
 2024-05-17 02:11:28 +00:00
Alexander Soare 4d7d41cdee
Fix act action queue (#185) 2024-05-16 15:43:25 +01:00
Akshay Kashyap c9069df9f1
Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Alexander Soare 68c1b13406
Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert f52f4f2cd2
Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Simon Alibert 29a196c5dd
Fix #173 - Require gym-pusht to be installed for test_examples_3_and_2 (#174) 2024-05-12 08:08:59 +02:00
Alexander Soare 1249aee3ac
Enable logging all the information returned by the `forward` methods of policies (#151) 2024-05-10 07:45:32 +01:00
Alexander Soare b187942db4
Add context manager for seeding (#164) 2024-05-09 17:58:39 +01:00
Alexander Soare 473345fdf6
Fix stats override in ACT config (#161) 2024-05-09 15:16:47 +01:00
Alexander Soare e89521dfa0
Enable tests for TD-MPC (#160) 2024-05-09 13:42:12 +01:00
Alexander Soare a8e245fb31
Remove loss masking from diffusion policy (#135) 2024-05-06 07:27:01 +01:00
Simon Alibert f5e76393eb
Release cleanup (#132) 
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
Remi 6eaffbef1d
Add 25 real world datasets (static + mobile aloha) (#133) 2024-05-05 19:13:11 +02:00
Alexander Soare f6fe162432
Rename Diffusion Policy model repository (#136) 2024-05-05 12:06:58 +01:00
Alexander Soare f3bba0270d
Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Simon Alibert c77633c38c
Add regression tests (#119) 
- 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
Remi 19812ca470
Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Alexander Soare bccee745c3
Refactor eval.py (#127) 2024-05-03 17:33:16 +01:00
Remi b2cda12f87
Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
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 e4e739f4f8
Refactor push_dataset_to_hub (#118) 2024-04-30 14:25:41 +02:00
Quentin Gallouédec 508bd92d03
Remove `update` method from the policy (#99) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-29 12:27:58 +02:00
Alexander Soare ccffa9e406
Fix policy defaults (#113) 2024-04-29 08:26:59 +01:00
Adil Zouitine 55dc9f7f51
Refactor the download and publication of the datasets and convert it into CLI script (#95) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-29 00:08:17 +02:00
Adil Zouitine 81e490d46f
Add UMI-gripper dataset (#83) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-28 18:41:07 +02:00
Simon Alibert bf2eebb090
Update readme & remove example 1 (#108) 
Co-authored-by: Remi <re.cadene@gmail.com>
- Update instructions for installing the library
- Remove deprecated example 1 (as we are now only using `LeRobotDataset` since #91)
 2024-04-27 09:48:02 +02:00
Simon Alibert fdf6a0c4e3
More CI cleanup, add style workflow (#107) 
- Changes on the `test.yml` workflow:
  - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`.
  - Reduce the trigger scope to only run when files in these directories are modified:
    - `lerobot/`
    - `tests/`
    - `examples/`
    - `.github/`
- Add `style.yml` workflow for doing a `ruff check` pass on the code
- More cleanup (removed deprecated workflow)
 2024-04-27 09:37:56 +02:00
Simon Alibert b980c5dd9e
CI nightlies cpu/gpu & cleanup (#75) 2024-04-25 14:58:39 +02:00
Remi 659c69a1c0
Refactor datasets into LeRobotDataset (#91) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 12:23:12 +02:00
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
Remi 1030ea0070
Loads episode_data_index and stats during dataset __init__ (#85) 
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
Simon Alibert 7ad1909641
Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +02:00
Remi 0928afd37d
Improve dataset examples (#82) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-18 11:43:16 +02:00