538455a965
feat: enable to use multiple rgb encoders per camera in diffusion policy ( #484 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-10-30 11:00:05 +01:00
a60d27b132
Raise ValueError if horizon is incompatible with downsampling ( #422 )
2024-09-09 17:22:46 +01:00
f17d9a2ba1
Bug: Fix VQ-Bet not working when n_action_pred_token=1 ( #420 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-09-09 09:41:13 +01:00
b2896d38f5
fix(act): n_vae_encoder_layers config parameter wasn't being used ( #400 )
2024-09-02 18:29:27 +01:00
86bbd16d43
Improve discoverability on the hub ( #325 )
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Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-08-19 15:16:46 +02:00
0f6e0f6d74
Fix input dim ( #365 )
2024-08-19 11:42:32 +01:00
7a3cb1ad34
Adjust the timestamps' description in Diffusion Policy ( #343 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-07-26 12:47:03 +01:00
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
c0101f0948
Fix ACT temporal ensembling ( #319 )
2024-07-16 10:27:21 +01:00
471eab3d7e
Make ACT compatible with "observation.environment_state" ( #314 )
2024-07-11 13:12:22 +01:00
64425d5e00
Bug fix: fix error when setting select_target_actions_indices in vqbet ( #310 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-07-10 17:56:11 +01:00
cc2f6e7404
Train diffusion pusht_keypoints ( #307 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 12:35:50 +01:00
74362ac453
Add VQ-BeT copyrights ( #299 )
2024-07-04 13:02:31 +02:00
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
b72d574891
fix Unet global_cond_dim to use state dim, not action dim ( #278 )
2024-06-17 15:17:28 +01:00
15dd682714
Add multi-image support to diffusion policy ( #218 )
2024-06-17 08:11:20 +01:00
54c9776bde
Improves Type Annotations ( #252 )
2024-06-10 19:09:48 +01:00
b0d954c6e1
Fix bug in normalize to avoid divide by zero ( #239 )
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Co-authored-by: rj <rj@teleopstrio-razer.lan>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-06-04 12:21:28 +02:00
cf15cba5fc
Remove redundant slicing operation in Diffusion Policy ( #240 )
2024-06-03 13:04:24 +01:00
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
57fb5fe8a6
Improve documentation on VAE encoder inputs ( #215 )
2024-05-30 19:16:44 +02:00
3d625ae6d3
Handle `crop_shape=None` in Diffusion Policy ( #219 )
2024-05-28 18:27:33 +01:00
3b86050ab0
throw an error if config.do_maks_loss and action_is_pad not provided in batch ( #213 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-27 09:06:26 +01:00
5ec0af62c6
Explain why n_encoder_layers=1 ( #193 )
2024-05-17 15:05:40 +01:00
625f0557ef
Act temporal ensembling ( #186 )
2024-05-17 14:57:49 +01:00
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
1249aee3ac
Enable logging all the information returned by the `forward` methods of policies ( #151 )
2024-05-10 07:45:32 +01:00
0ea7a8b2a3
refactor: update configuration_tdmpc.py ( #153 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-08 18:13:51 +01:00
460df2ccea
Support for DDIMScheduler in Diffusion Policy ( #146 )
2024-05-08 18:05:16 +01:00
f5de57b385
Fix SpatialSoftmax input shape ( #150 )
2024-05-08 14:57:29 +01:00
47de07658c
Override pretrained model config ( #147 )
2024-05-08 12:56:21 +01:00
a8e245fb31
Remove loss masking from diffusion policy ( #135 )
2024-05-06 07:27:01 +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
c015252e20
Remove batch length restrictions in select_action ( #123 )
2024-05-04 15:33:55 +02:00
c1668924ab
Fix missing `policy.to(device)` in policy factory ( #126 )
2024-05-01 17:26:58 +01:00
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
a4891095e4
Use PytorchModelHubMixin to save models as safetensors ( #125 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-01 16:17:18 +01:00
01d5490d44
Follow `transformers` single file naming conventions ( #124 )
2024-05-01 13:09:42 +01:00
986583dc5c
Nest ACT model in ACT Policy ( #122 )
2024-04-30 17:17:40 +01:00
9d60dce6f3
Tidy up yaml configs ( #121 )
2024-04-30 16:08:59 +01:00
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
508bd92d03
Remove `update` method from the policy ( #99 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-29 12:27:58 +02:00
ccffa9e406
Fix policy defaults ( #113 )
2024-04-29 08:26:59 +01:00
Hirokazu Ishida
Alexander Soare
Joe Clinton
Jack Vial
NielsRogge
Halvard Bariller
Seungjae Lee
Simon Alibert
Thomas Wolf
Jihoon Oh
Wael Karkoub
Ruijie
Remi
Radek Osmulski
Akshay Kashyap
Ikko Eltociear Ashimine
Quentin Gallouédec