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:
...
- 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
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
48e70e044e
Merge pull request #18 from Cadene/user/aliberts/2024_03_11_dynamic_build_versioning
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Add dynamic build versioning
2024-03-11 19:06:51 +01:00
4449c06823
Add comment
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-03-11 19:06:22 +01:00
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
78690d197f
Merge pull request #19 from Cadene/user/aliberts/2024_03_11_wandb_config
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Configure wandb entity outside config
2024-03-11 14:17:44 +01:00
6d6c84b4a3
Remove entity from config
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-03-11 14:14:17 +01:00
fab2b3240b
Merge pull request #17 from Cadene/user/rcadene/2024_03_11_bugfix_compute_stats
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Fix bugs with normalization
2024-03-11 13:44:07 +01:00
84a1647c01
fix import
2024-03-11 12:41:14 +00:00
ccd5dc5a42
fix training
2024-03-11 12:33:15 +00:00
00fe4f4f18
Configure wandb entity outside config
2024-03-11 13:09:46 +01:00
225eebde40
Add dynamic build versioning
2024-03-11 12:10:46 +01:00
816b2e9d63
fix more bugs in normalization
2024-03-11 11:03:51 +00:00
a7ef4a6a33
fix bug in compute_stats for action normalization
2024-03-11 09:47:54 +00:00
f54ee7cda0
Fix paths
2024-03-10 16:51:50 +01:00
134009f337
Remove init files
2024-03-10 16:38:49 +01:00
6c867d78ef
Integrate pusht env from diffusion
2024-03-10 16:33:03 +01:00
302b78962c
Integrate diffusion policy
2024-03-10 15:31:17 +01:00
59397fb44a
Move tdmpc files
2024-03-09 18:44:36 +01:00
89eaab140b
Add pusht test artifact
2024-03-09 15:36:20 +01:00
f1e2837d63
fix pusht data_dir path
2024-03-08 12:26:15 +01:00
524d29aa80
fix tests
2024-03-07 13:23:22 +01:00
d782b029e1
Add aloha dataset
2024-03-06 10:26:32 +00:00
49c0955f97
Merge pull request #7 from Cadene/user/rcadene/2024_03_05_abstract_replay_buffer
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Add AbstractReplayBuffer
2024-03-06 11:25:24 +01:00
eed24b083a
small fix
2024-03-06 10:21:22 +00:00
f95ecd66fc
Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements
2024-03-06 10:15:57 +00:00
a6d353c419
Fix
2024-03-05 17:00:17 +01:00
2f80d71c3e
Remove noqa-F821
2024-03-05 10:22:21 +00:00
d4e0849970
Refactor datasets with abstract class
2024-03-05 10:20:57 +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
2bcf2631b9
minor comment
2024-03-04 22:34:44 +00:00
e990f3e148
Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion
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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
fddd9f0311
Add possibility for the policy to provide a sequence of actions to the env
2024-03-03 14:02:24 +00:00
4c400b41a5
Improve log msg in train.py
2024-03-03 13:22:09 +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
cbbed590a9
Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)
2024-03-03 13:19:02 +00:00
b859e89936
Fix for PR #5
2024-03-03 13:05:21 +01:00
b33ec5a630
Add run on cpu-only compatibility
2024-03-03 12:47:26 +01:00
48ded3dbc7
fix
2024-03-02 18:11:50 +00:00
661bda45ea
imagenet_norm: False
2024-03-02 17:18:58 +00:00
80785f8d0e
Small fix, Refactor diffusion, Diffusion runs (TODO: remove normalization in diffusion)
2024-03-02 17:04:39 +00:00
45b4ecb727
pre-commit run -a
2024-03-02 15:58:21 +00:00
1ae6205269
Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion)
2024-03-02 15:53:29 +00:00
b5a2f460ea
fix bus error
2024-03-01 14:22:05 +00:00
c1942d45d3
Fixes for PR #4
2024-03-01 14:59:05 +01:00
b862145e22
Added pusht dataset auto-download
2024-03-01 14:31:54 +01:00
ca948c1e5b
fix zip strict=False
2024-03-01 00:45:23 +00:00
ae050d2e94
Solve conflicts + pre-commit run -a
2024-02-29 23:31:32 +00:00
0b9027f05e
Clean logging, Refactor
2024-02-29 23:21:27 +00:00
2c05b75f45
Fixes for PR #3
2024-02-29 21:46:41 +01:00
7e024fdce6
Ran pre-commit run --all-files
2024-02-29 13:37:48 +01:00
5798979e9c
comment
2024-02-28 18:31:54 +00:00
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
98f8869743
WIP
2024-02-28 10:59:06 +01:00
e543c9a42c
small fix %
2024-02-27 11:54:31 +00:00
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
64b5920e94
format
2024-02-24 18:19:18 +00:00
aed02dc7c6
Add multithreading for video generation, Speed policy sampling
2024-02-24 18:18:39 +00:00
591985c67d
Fix done in pusht, Fix --time in sbatch
2024-02-22 17:58:26 +00:00
63d18475cc
fix simxarm factory
2024-02-22 13:04:24 +00:00
96c53ad06f
remove comments
2024-02-22 12:15:14 +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
3dc14b5576
Add Prod transform, Add test_factory
2024-02-20 14:22:16 +00:00
3da6ffb2cb
Fix unit tests, Refactor, Add pusht env, (TODO pusht replay buffer, image preprocessing)
2024-02-20 12:26:57 +00:00
fdfb2010fd
black
2024-02-18 01:24:19 +00:00
a5c305a7a4
offline training + online finetuning converge to 33 reward!
2024-02-18 01:23:44 +00:00
0b4084f0f8
Clean + alpha beta corresponds to config (before 0.7 and 0.9)
2024-02-16 16:27:54 +00:00
c202c2b3c2
Online finetuning runs (sometimes crash because of nans)
2024-02-16 15:13:24 +00:00
228c045674
Eval reproduced! Train running (but not reproduced)
2024-02-10 15:46:24 +00:00
937b2f8cba
Add option for random policy
2024-01-31 13:54:32 +00:00
5a5b190f70
Add common, refactor eval with eval_policy
2024-01-31 13:48:12 +00:00
1e52499490
eval.mp4 works!
2024-01-30 23:30:14 +00:00
1144819c29
First real commit, simxarm env added with torchrl!
2024-01-29 12:49:30 +00:00
Cadene
Alexander Soare
Simon Alibert
Simon Alibert