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366 Commits

Author SHA1 Message Date
Marina Barannikov 5eea2542d9 Added visualisations for image augmentation 2024-06-04 11:57:45 +00:00
Marina Barannikov 42f9cc9c2a Updated transforms arguments 2024-06-04 11:14:54 +00:00
Marina Barannikov 66629a956d Updated config to match transforms 2024-06-04 11:09:23 +00:00
Marina Barannikov 14291171cc Updated default.yaml 2024-06-03 17:21:16 +00:00
Marina Barannikov cc4b3bd8e7 Updated default.yaml 2024-06-03 17:18:33 +00:00
Simon Alibert 602ea9844b Add RandomSubsetApply 2024-06-03 17:15:37 +00:00
Marina Barannikov 9f8415fa83 Added clarification comments 2024-06-03 14:18:08 +00:00
Marina Barannikov 212a5ab29b Updated implementation on MultiLeRobotDataset 2024-05-31 16:28:08 +00:00
Marina Barannikov c4870e5892 Added data augmentation feature to MultiLeRobotDataset 2024-05-31 15:42:31 +00:00
Marina Barannikov 20a3715469 Merge remote-tracking branch 'origin/main' into 2024_05_30_add_data_augmentation 2024-05-31 14:50:31 +00:00
marina.barannikov@huggingface.co 65e46a49e1 Implemented data augmentation with LeRobot class 2024-05-31 14:16:38 +00:00
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
Radek Osmulski 504d2aaf48
add EpisodeAwareSampler (#217) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 13:43:47 +01:00
Radek Osmulski 83f4f7f7e8
Add precision param to format_big_number (#232) 2024-05-31 10:19:01 +02:00
Alexander Soare 633115d861
Fix chaining in MultiLerobotDataset (#233) 2024-05-31 09:03:28 +01:00
Alexander Soare 57fb5fe8a6
Improve documentation on VAE encoder inputs (#215) 2024-05-30 19:16:44 +02:00
Alexander Soare 111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s (#229) 2024-05-30 16:12:21 +01:00
Remi 265b0ec44d
Refactor env to add key word arguments from config yaml (#223) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-30 13:45:22 +02:00
Remi 2c2e4e14ed
Add `aloha_dora_format.py` (#201) 
Co-authored-by: Thomas Wolf <thomwolf@users.noreply.github.com>
 2024-05-30 11:26:39 +02:00
Alexander Soare 3d625ae6d3
Handle `crop_shape=None` in Diffusion Policy (#219) 2024-05-28 18:27:33 +01:00
Alexander Soare e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Radek Osmulski 3b86050ab0
throw an error if config.do_maks_loss and action_is_pad not provided in batch (#213) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-27 09:06:26 +01:00
Alexander Soare b6c216b590
Add Automatic Mixed Precision option for training and evaluation. (#199) 2024-05-20 18:57:54 +01:00
Alexander Soare 2b270d085b
Disable online training (#202) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-20 18:27:54 +01:00
Remi c4da689171
Hot fix to compute validation loss example test (#200) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-20 18:30:11 +02:00
Radek Osmulski 9b62c25f6c
Adds split_by_episodes to LeRobotDataset (#158) 2024-05-20 14:04:04 +02:00
Remi 01eae09ba6
Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Alexander Soare 096149b118
Disable wandb by default (#195) 2024-05-17 18:01:39 +01:00
Alexander Soare 5ec0af62c6
Explain why n_encoder_layers=1 (#193) 2024-05-17 15:05:40 +01:00
Alexander Soare 625f0557ef
Act temporal ensembling (#186) 2024-05-17 14:57:49 +01:00
Alexander Soare 4d7d41cdee
Fix act action queue (#185) 2024-05-16 15:43:25 +01:00
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
Alexander Soare 68c1b13406
Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert f52f4f2cd2
Add copyrights (#157) 2024-05-15 12:13:09 +02:00
AshisGhosh fc5cf3d84a
Fixes issue #152 - error with creating wandb artifact (#172) 
Co-authored-by: Ashis Ghosh <ahsisghosh@live.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-12 08:13:12 +02:00
Remi ced3de4c94
Fix hanging in visualize_dataset.py when num_workers > 0 (#165) 2024-05-11 19:28:22 +03:00
Alexander Soare 1249aee3ac
Enable logging all the information returned by the `forward` methods of policies (#151) 2024-05-10 07:45:32 +01:00
Alexander Soare b187942db4
Add context manager for seeding (#164) 2024-05-09 17:58:39 +01:00
Alexander Soare 473345fdf6
Fix stats override in ACT config (#161) 2024-05-09 15:16:47 +01:00
Alexander Soare e89521dfa0
Enable tests for TD-MPC (#160) 2024-05-09 13:42:12 +01:00
Ikko Eltociear Ashimine 0ea7a8b2a3
refactor: update configuration_tdmpc.py (#153) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-08 18:13:51 +01:00
Akshay Kashyap 460df2ccea
Support for DDIMScheduler in Diffusion Policy (#146) 2024-05-08 18:05:16 +01:00
Alexander Soare f5de57b385
Fix SpatialSoftmax input shape (#150) 2024-05-08 14:57:29 +01:00
Alexander Soare 47de07658c
Override pretrained model config (#147) 2024-05-08 12:56:21 +01:00
Alexander Soare 26d9a070d8
Add policy and dataset tags to WandB logging (#144) 2024-05-07 09:09:21 +01:00
Alexander Soare a8e245fb31
Remove loss masking from diffusion policy (#135) 2024-05-06 07:27:01 +01:00
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 6eaffbef1d
Add 25 real world datasets (static + mobile aloha) (#133) 2024-05-05 19:13:11 +02:00
Alexander Soare 6e6feae09e
Remove additional frame from eval render (#137) 2024-05-05 13:49:53 +02:00
Alexander Soare f6fe162432
Rename Diffusion Policy model repository (#136) 2024-05-05 12:06:58 +01:00