1c24bbda3f
WIP Upgrading simxam from mujoco-py to mujoco python bindings
2024-03-25 12:28:07 +01:00
529f42643d
revision
2024-03-22 12:33:25 +00:00
4e10cd306b
revert changes to default.yaml
2024-03-21 10:27:07 +00:00
acf1174447
ready for review
2024-03-21 10:18:50 +00:00
d323993569
backup wip
2024-03-20 15:01:27 +00:00
32e3f71dd1
backup wip
2024-03-20 09:49:16 +00:00
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
88347965c2
revert dp changes, make act and tdmpc batch friendly
2024-03-18 19:18:21 +00:00
bae7e7b41c
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 14:06:53 +00:00
4ecfd17f9e
fix wandb artifact name and add disable option
2024-03-15 13:56:55 +00:00
a222c88c99
Merge branch 'user/alexander-soare/train_pusht' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-14 16:06:21 +00:00
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
98484ac68e
ready for review
2024-03-12 21:59:01 +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
87fcc536f9
wip - still need to verify full training run
2024-03-11 18:45:21 +00:00
304355c917
Merge remote-tracking branch 'origin/main' into train_pusht
2024-03-11 15:37:37 +00:00
2a01487494
early training loss as expected
2024-03-11 13:34:04 +00:00
6d6c84b4a3
Remove entity from config
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-03-11 14:14:17 +01:00
00fe4f4f18
Configure wandb entity outside config
2024-03-11 13:09:46 +01:00
6c867d78ef
Integrate pusht env from diffusion
2024-03-10 16:33:03 +01:00
d782b029e1
Add aloha dataset
2024-03-06 10:26:32 +00:00
e132a267aa
offline_prioritized_sampler: true
2024-03-04 23:17:59 +00:00
a027f4edfb
Add cfg.offline_prioritized_sampler
2024-03-04 23:08:52 +00:00
e990f3e148
Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion
...
Make diffusion work
2024-03-04 18:30:40 +01:00
e29fbb50e8
Fix grad_clip_norm 0 -> 10, Fix normalization min_max to be per channel
2024-03-04 17:26:34 +00:00
cfc304e870
Refactor env queue, Training diffusion works (Still not converging)
2024-03-04 11:00:51 +00:00
0f2fa4d9ef
Add obs queue to pusht, Set n_obs_steps=2 for diffusion (Not fully tested)
2024-03-03 13:21:31 +00:00
b33ec5a630
Add run on cpu-only compatibility
2024-03-03 12:47:26 +01:00
661bda45ea
imagenet_norm: False
2024-03-02 17:18:58 +00:00
0b9027f05e
Clean logging, Refactor
2024-02-29 23:21:27 +00:00
7e024fdce6
Ran pre-commit run --all-files
2024-02-29 13:37:48 +01:00
ac90b9c3ee
Fix diffusion (rm transpose), Add prefetch
2024-02-28 17:45:01 +00:00
cf5063e50e
Add diffusion policy (train and eval works, TODO: reproduce results)
2024-02-28 15:21:42 +00:00
f1708c8a37
install fix
2024-02-28 12:35:49 +01:00
7df542445c
Small fix and improve logging message
2024-02-27 11:44:26 +00:00
21670dce90
Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)
2024-02-26 01:10:09 +00:00
5a219fed6e
Refactor policy config
2024-02-25 18:26:44 +00:00
b16c334825
Refactor configs to have env in seperate yaml + Fix training
2024-02-25 17:42:47 +00:00
eec134d72b
small change
2024-02-25 14:20:14 +00:00
ed80db2846
Sanitize cfg.env
2024-02-25 12:02:29 +00:00
9b469c4232
Fix pusht.yaml
2024-02-25 11:49:39 +00:00
0eb9b5d1a5
Sanitize cfg.wandb
2024-02-25 11:15:09 +00:00
e765e26b0b
Sanitize cfg.policy, Fix skip_frame pusht.yaml
2024-02-25 11:09:02 +00:00
598bb496b0
Add policies/factory, Add test, Add _self_ in config
2024-02-25 10:50:23 +00:00
e3643d6146
Wandb works, One output dir
2024-02-22 12:14:12 +00:00
ece89730e6
Add pusht dataset (TODO verify reward is aligned), Refactor visualize_dataset, Add video_dir, fps, state_dim, action_dim to config (Training works)
2024-02-21 00:49:40 +00:00
3da6ffb2cb
Fix unit tests, Refactor, Add pusht env, (TODO pusht replay buffer, image preprocessing)
2024-02-20 12:26:57 +00:00
c202c2b3c2
Online finetuning runs (sometimes crash because of nans)
2024-02-16 15:13:24 +00:00
Simon Alibert
Alexander Soare
Remi Cadene
Simon Alibert