4631d36c05
Add get_safe_torch_device in policies
2024-03-20 18:38:55 +01:00
82e6e01651
v1.1
2024-03-20 17:34:00 +00:00
d323993569
backup wip
2024-03-20 15:01:27 +00:00
4b7ec81dde
remove abstracmethods, fix online training
2024-03-20 14:49:41 +00:00
32e3f71dd1
backup wip
2024-03-20 09:49:16 +00:00
5332766a82
revision
2024-03-20 09:45:45 +00:00
b1ec3da035
remove internal rendering hooks
2024-03-20 09:23:23 +00:00
d16f6a93b3
Merge remote-tracking branch 'upstream/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-20 09:01:45 +00:00
4f1955edfd
Clear action queue when environment is reset
2024-03-20 08:31:06 +00:00
c5010fee9a
fix seeding
2024-03-20 08:21:33 +00:00
18fa88475b
Move reset_warning_issued flag to class attribute
2024-03-20 08:09:38 +00:00
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
7d5d99e036
Address more comments
2024-03-19 16:53:07 +00:00
10034e85c4
Aloha done
2024-03-19 16:03:42 +00:00
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
6a1a29386a
Add replay_buffer directory in pusht datasets + aloha (WIP)
2024-03-19 15:49:45 +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
3124f71ebd
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 14:04:23 +00:00
4ecfd17f9e
fix wandb artifact name and add disable option
2024-03-15 13:56:55 +00:00
b752833f3f
fix download
2024-03-15 13:19:18 +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
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
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
...
Configure wandb entity outside config
2024-03-11 14:17:44 +01:00
fab2b3240b
Merge pull request #17 from Cadene/user/rcadene/2024_03_11_bugfix_compute_stats
...
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
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
...
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
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
fddd9f0311
Add possibility for the policy to provide a sequence of actions to the env
2024-03-03 14:02:24 +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
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
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
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
98f8869743
WIP
2024-02-28 10:59:06 +01:00
21670dce90
Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)
2024-02-26 01:10:09 +00:00
b16c334825
Refactor configs to have env in seperate yaml + Fix training
2024-02-25 17:42:47 +00:00
ed80db2846
Sanitize cfg.env
2024-02-25 12:02:29 +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
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
5a5b190f70
Add common, refactor eval with eval_policy
2024-01-31 13:48:12 +00:00
Simon Alibert
Cadene
Alexander Soare
Simon Alibert