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
791506dfb8
Remove warnings ( #111 )
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- Replace `use_pretrained_backbone` with `pretrained_backbone_weights`
- Bump diffusers' minimum version `0.26.3` -> `0.27.2`
- Add ignore flags in CI's pytest
- Change Box observation spaces in simulation environments
- Set `version_base="1.2"` in Hydra initializations
- Bump einops' minimum version `0.7.0` -> `0.8.0`
2024-04-29 00:31:33 +02:00
45f351c618
Make sure targets are normalized too ( #106 )
2024-04-26 11:18:39 +01:00
e760e4cd63
Move normalization to policy for act and diffusion ( #90 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 11:47:38 +02:00
7ad1909641
Tests cleaning & simplification ( #81 )
2024-04-18 14:47:42 +02:00
dd9c6eed15
Add temporary patch in TD-MPC
2024-04-17 16:27:57 +01:00
2298ddf226
wip
2024-04-17 16:21:37 +01:00
63e5ec6483
revert some formatting changes
2024-04-17 11:40:49 +01:00
c50a13ab31
draft
2024-04-17 10:50:54 +01:00
cb3978b5f3
backup wip
2024-04-16 18:12:39 +01:00
0eb899de73
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-16 17:30:41 +01:00
a9496fde39
revision 1
2024-04-16 17:15:51 +01:00
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
9c2f10bd04
ready for review
2024-04-16 13:43:58 +01:00
03b08eb74e
backup wip
2024-04-16 12:51:32 +01:00
5608e659e6
backup wip
2024-04-15 19:06:44 +01:00
14f3ffb412
Merge remote-tracking branch 'upstream/main' into refactor_dp
2024-04-15 17:08:28 +01:00
30023535f9
revision 1
2024-04-15 10:56:43 +01:00
40d417ef60
Make sure to make remove all traces of omegaconf from policy config
2024-04-15 09:59:18 +01:00
ef4bd9e25c
Use dataclass config for ACT
2024-04-15 09:39:23 +01:00
34f00753eb
remove policy.py
2024-04-12 17:13:25 +01:00
55e484124a
draft pr
2024-04-12 17:03:59 +01:00
6d0a45a97d
ready for review
2024-04-12 11:36:52 +01:00
5666ec3ec7
backup wip
2024-04-11 18:33:54 +01:00
94cc22da9e
Merge remote-tracking branch 'upstream/main' into refactor_dp
2024-04-11 17:52:10 +01:00
Alexander Soare
Radek Osmulski
Akshay Kashyap
Simon Alibert
Ikko Eltociear Ashimine
Quentin Gallouédec
Remi