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59 Commits

Author SHA1 Message Date
Remi 5e54e39795
Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00
Simon Alibert e410e5d711
Improve video benchmark (#282) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 20:20:25 +02:00
Alexander Soare a4d77b99f0
Include `observation.environment_state` with keypoints in PushT dataset (#303) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 08:27:40 +01:00
Simon Alibert 2abef3bef9
Enable `video_reader` backend (#220) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 17:15:25 +02:00
Remi d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Alexander Soare e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Simon Alibert 35c1ce7a66
Fix install issues (#191) 2024-05-23 14:25:18 +02:00
Remi 01eae09ba6
Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Akshay Kashyap c9069df9f1
Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Simon Alibert 89c6be84ca
Limit datasets major update (#176) 
Co-authored-by: Quentin Lhoest <42851186+lhoestq@users.noreply.github.com>
Co-authored-by: Quentin Lhoest <lhoest.q@gmail.com>
 2024-05-12 08:15:07 +02:00
Simon Alibert 7bb5b15f4c
Remove dependencies upper bounds constraints (#145) 2024-05-08 17:23:10 +00:00
Simon Alibert eb6bfe01b2
Relax version contraints & poetry lock (#139) 2024-05-06 17:38:29 +02:00
Simon Alibert f5e76393eb
Release cleanup (#132) 
Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
 2024-05-06 03:03:14 +02:00
Remi 19812ca470
Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Simon Alibert b7b69fcc3d
Publish environments (#120) 2024-05-03 16:25:45 +02:00
Remi b2cda12f87
Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
Simon Alibert 791506dfb8
Remove warnings (#111) 
- 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
Adil Zouitine 55dc9f7f51
Refactor the download and publication of the datasets and convert it into CLI script (#95) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-29 00:08:17 +02:00
Adil Zouitine 81e490d46f
Add UMI-gripper dataset (#83) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-28 18:41:07 +02:00
Simon Alibert a4b6c5e3b1
Add torchaudio (#110) 2024-04-27 14:00:38 +02:00
Simon Alibert fdf6a0c4e3
More CI cleanup, add style workflow (#107) 
- Changes on the `test.yml` workflow:
  - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`.
  - Reduce the trigger scope to only run when files in these directories are modified:
    - `lerobot/`
    - `tests/`
    - `examples/`
    - `.github/`
- Add `style.yml` workflow for doing a `ruff check` pass on the code
- More cleanup (removed deprecated workflow)
 2024-04-27 09:37:56 +02:00
Remi 1030ea0070
Loads episode_data_index and stats during dataset __init__ (#85) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-23 14:13:25 +02:00
Cadene c6aca7fe44 For Pusht: use hf datasets to train, rename load_data_with_delta_timestamps -> load_previous_and_future_frames 2024-04-16 17:19:06 +00:00
Simon Alibert 70e8de95f7 Clean & update pyproject 2024-04-16 12:09:56 +02:00
Alexander Soare 575891e8ac Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 15:19:29 +01:00
Simon Alibert dfaacbcf5a Split dev/test dependencies 2024-04-09 10:40:11 +02:00
Simon Alibert 2573e89e1d Remove direct dependencies 2024-04-09 10:38:08 +02:00
Alexander Soare e6c6c2367f Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 08:36:28 +01:00
Cadene 19e7661b8d Remove torchrl/tensordict from dependecies + update poetry cpu 2024-04-09 03:50:49 +00:00
Alexander Soare 50e4c8050c Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-08 17:13:11 +01:00
Simon Alibert 3f6dfa4916 Add gym-aloha, rename simxarm -> xarm, refactor 2024-04-08 16:24:11 +02:00
Alexander Soare e982c732f1 Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-08 09:25:45 +01:00
Alexander Soare ab2286025b Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 18:06:00 +01:00
Alexander Soare 1e71196fe3 backup wip 2024-04-05 17:38:29 +01:00
Simon Alibert ab3cd3a7ba (WIP) Add gym-xarm 2024-04-05 15:35:20 +02:00
Alexander Soare 9d77f5773d Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 11:41:11 +01:00
Cadene 1cdfbc8b52 WIP 
WIP

WIP train.py works, loss going down

WIP eval.py

Fix

WIP (eval running, TODO: verify results reproduced)

Eval works! (testing reproducibility)

WIP

pretrained model pusht reproduces same results as torchrl

pretrained model pusht reproduces same results as torchrl

Remove AbstractPolicy, Move all queues in select_action

WIP test_datasets passed (TODO: re-enable NormalizeTransform)
 2024-04-04 15:31:03 +00:00
Alexander Soare 278336a39a backup wip 2024-04-03 19:23:22 +01:00
Alexander Soare 2b928eedd4 backup wip 2024-04-02 19:11:53 +01:00
Simon Alibert 58df2066a9 Add pytest-cov 2024-03-28 10:35:11 +01:00
Simon Alibert 643d64e2a8 Add cmake 2024-03-27 16:33:26 +01:00
Simon Alibert 0fae5b206b Allow mujoco minor revision updates 2024-03-25 17:25:55 +01:00
Simon Alibert dc89166bee Upgrade gym to gymnasium 2024-03-25 15:12:21 +01:00
Simon Alibert 0c41675986 fix __init__ import Base 2024-03-25 12:28:07 +01:00
Simon Alibert 1c24bbda3f WIP Upgrading simxam from mujoco-py to mujoco python bindings 2024-03-25 12:28:07 +01:00
Alexander Soare acf1174447 ready for review 2024-03-21 10:18:50 +00:00
Alexander Soare 5332766a82 revision 2024-03-20 09:45:45 +00:00
Alexander Soare a45896dc8d Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env 2024-03-15 13:05:35 +00:00
Cadene a311d38796 Add aloha + improve readme 2024-03-15 00:30:11 +00:00
Cadene 19730b3412 Add pusht on hf dataset (WIP) 2024-03-14 16:59:37 +00:00