9d002032d1
Add Aloha env and ACT policy
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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
060bac7672
Merge pull request #23 from Cadene/kashif-patch-1
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Update README.md
2024-03-12 10:11:42 +01:00
337208f28d
Update README.md
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fix some readme typos
2024-03-12 10:05:05 +01:00
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
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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
a94800fc8a
Merge pull request #20 from Cadene/user/aliberts/2024_03_11_license
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Add license
2024-03-11 14:32:05 +01:00
a207b416b7
Typo fix
2024-03-11 14:20:05 +01:00
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
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-03-11 14:14:17 +01:00
772a826bf2
Add FOWM & ALOHA copyright notices
2024-03-11 13:54:20 +01:00
2cb8ae5037
Add acknowledgements
2024-03-11 13:49:08 +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
c1e9c13ade
Add license
2024-03-11 13:31:52 +01:00
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
d4ea4f0ad1
Merge pull request #16 from Cadene/user/aliberts/2024_03_09_integrate_diffusion_policy
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Integrate diffusion policy
2024-03-10 17:02:16 +01:00
f54ee7cda0
Fix paths
2024-03-10 16:51:50 +01:00
134009f337
Remove init files
2024-03-10 16:38:49 +01:00
7982425670
Remove diffusion-policy dependency
2024-03-10 16:36:30 +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
1cc621ec36
Merge pull request #15 from Cadene/user/aliberts/2024_03_09_add_ci_eval_test
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Add end-to-end pusht eval test
2024-03-09 16:54:50 +01:00
471ebfef62
Remove cleanup + reduce eval steps
2024-03-09 16:50:17 +01:00
30753d879c
Fix
2024-03-09 16:41:31 +01:00
c6fb40fb29
Add end-to-end pusht eval test
2024-03-09 16:37:34 +01:00
fa7a947acc
Merge pull request #12 from Cadene/user/aliberts/2024_03_08_test_data
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Add pusht test artifact
2024-03-09 16:00:39 +01:00
450e32e4b5
update readme
2024-03-09 15:57:29 +01:00
0da85b2cef
Removed debugging lines
2024-03-09 15:51:42 +01:00
f2c7ab5b3b
test ci
2024-03-09 15:41:23 +01:00
cde866dac0
reupload
2024-03-09 15:36:20 +01:00
a54a0feb63
remove mock
2024-03-09 15:36:20 +01:00
f440a681ad
Add mock_dataset.py
2024-03-09 15:36:20 +01:00
35bd577deb
Add mock_dataset.py
2024-03-09 15:36:20 +01:00
327f60e4be
Update readme
2024-03-09 15:36:20 +01:00
74ad9d5154
Change pusht artifacts path
2024-03-09 15:36:20 +01:00
89eaab140b
Add pusht test artifact
2024-03-09 15:36:20 +01:00
7dbdbb051c
Add git lfs in CI checkout
2024-03-09 15:35:20 +01:00
4cc7e1539e
Merge pull request #10 from Cadene/user/rcadene/2024_03_06_fix_tests
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Fix env tests
2024-03-08 12:30:08 +01:00
f1e2837d63
fix pusht data_dir path
2024-03-08 12:26:15 +01:00
54b05bfb77
Comment aloha, add test to CI
2024-03-07 15:57:38 +01:00
524d29aa80
fix tests
2024-03-07 13:23:22 +01:00
c2c0ef9927
Leaner caching strategy
2024-03-07 13:00:47 +01:00
Remi Cadene
Kashif Rasul
Alexander Soare
Simon Alibert
Simon Alibert