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151 Commits

Author SHA1 Message Date
Cadene 5af00d0c1e fix train.py, stats, eval.py (training is running) 2024-04-05 09:31:39 +00:00
Alexander Soare 3a4dfa82fe backup wip 2024-04-04 18:34:41 +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 110ac5ffa1 backup wip 2024-04-03 14:21:07 +01:00
Alexander Soare 65ef8c30d0 backup wip 2024-04-02 19:13:49 +01:00
Alexander Soare 2b928eedd4 backup wip 2024-04-02 19:11:53 +01:00
Alexander Soare 1a1308d62f fix environment seeding 
add fixes for reproducibility

only try to start env if it is closed

revision

fix normalization and data type

Improve README

Improve README

Tests are passing, Eval pretrained model works, Add gif

Update gif

Update gif

Update gif

Update gif

Update README

Update README

update minor

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Address suggestions

Update thumbnail + stats

Update thumbnail + stats

Update README.md

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Add more comments

Add test_examples.py
 2024-03-26 10:10:43 +00:00
Simon Alibert bcfdba109f Update pre-commit & run on all files 2024-03-25 17:29:35 +01:00
Alexander Soare 72d3c3120b Merge remote-tracking branch 'upstream/main' into fix_pusht_diffusion 2024-03-21 10:20:52 +00:00
Alexander Soare acf1174447 ready for review 2024-03-21 10:18:50 +00:00
Simon Alibert 4631d36c05 Add get_safe_torch_device in policies 2024-03-20 18:38:55 +01:00
Alexander Soare d323993569 backup wip 2024-03-20 15:01:27 +00:00
Alexander Soare 4b7ec81dde remove abstracmethods, fix online training 2024-03-20 14:49:41 +00:00
Alexander Soare 32e3f71dd1 backup wip 2024-03-20 09:49:16 +00:00
Alexander Soare 5332766a82 revision 2024-03-20 09:45:45 +00:00
Alexander Soare 4f1955edfd Clear action queue when environment is reset 2024-03-20 08:31:06 +00:00
Alexander Soare 896a11f60e backup wip 2024-03-19 18:50:04 +00:00
Alexander Soare ea17f4ce50 backup wip 2024-03-19 16:02:09 +00:00
Alexander Soare 88347965c2 revert dp changes, make act and tdmpc batch friendly 2024-03-18 19:18:21 +00:00
Alexander Soare 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
Alexander Soare ba91976944 wip: still needs batch logic for act and tdmp 2024-03-14 15:24:10 +00:00
Alexander Soare 98484ac68e ready for review 2024-03-12 21:59:01 +00:00
Alexander Soare 9512d1d2f3 Merge branch 'main' into user/alexander-soare/train_pusht 2024-03-12 19:41:27 +00:00
Remi Cadene 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
Alexander Soare 87fcc536f9 wip - still need to verify full training run 2024-03-11 18:45:21 +00:00
Alexander Soare 2a01487494 early training loss as expected 2024-03-11 13:34:04 +00:00
Simon Alibert 134009f337 Remove init files 2024-03-10 16:38:49 +01:00
Simon Alibert 6c867d78ef Integrate pusht env from diffusion 2024-03-10 16:33:03 +01:00
Simon Alibert 302b78962c Integrate diffusion policy 2024-03-10 15:31:17 +01:00
Simon Alibert 59397fb44a Move tdmpc files 2024-03-09 18:44:36 +01:00
Simon Alibert a6d353c419 Fix 2024-03-05 17:00:17 +01:00
Remi e990f3e148
Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion 
Make diffusion work
 2024-03-04 18:30:40 +01:00
Remi Cadene cfc304e870 Refactor env queue, Training diffusion works (Still not converging) 2024-03-04 11:00:51 +00:00
Remi Cadene fddd9f0311 Add possibility for the policy to provide a sequence of actions to the env 2024-03-03 14:02:24 +00:00
Remi Cadene 0f2fa4d9ef Add obs queue to pusht, Set n_obs_steps=2 for diffusion (Not fully tested) 2024-03-03 13:21:31 +00:00
Simon Alibert b33ec5a630 Add run on cpu-only compatibility 2024-03-03 12:47:26 +01:00
Remi Cadene 80785f8d0e Small fix, Refactor diffusion, Diffusion runs (TODO: remove normalization in diffusion) 2024-03-02 17:04:39 +00:00
Remi Cadene 45b4ecb727 pre-commit run -a 2024-03-02 15:58:21 +00:00
Remi Cadene 1ae6205269 Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion) 2024-03-02 15:53:29 +00:00
Cadene ca948c1e5b fix zip strict=False 2024-03-01 00:45:23 +00:00
Cadene ae050d2e94 Solve conflicts + pre-commit run -a 2024-02-29 23:31:32 +00:00
Cadene 0b9027f05e Clean logging, Refactor 2024-02-29 23:21:27 +00:00
Simon Alibert 2c05b75f45 Fixes for PR #3 2024-02-29 21:46:41 +01:00
Simon Alibert 7e024fdce6 Ran pre-commit run --all-files 2024-02-29 13:37:48 +01:00
Cadene ac90b9c3ee Fix diffusion (rm transpose), Add prefetch 2024-02-28 17:45:01 +00:00
Cadene cf5063e50e Add diffusion policy (train and eval works, TODO: reproduce results) 2024-02-28 15:21:42 +00:00
Cadene 21670dce90 Refactor train, eval_policy, logger, Add diffusion.yaml (WIP) 2024-02-26 01:10:09 +00:00
Cadene b16c334825 Refactor configs to have env in seperate yaml + Fix training 2024-02-25 17:42:47 +00:00
Cadene e765e26b0b Sanitize cfg.policy, Fix skip_frame pusht.yaml 2024-02-25 11:09:02 +00:00
Cadene 598bb496b0 Add policies/factory, Add test, Add _self_ in config 2024-02-25 10:50:23 +00:00