125bd93e29
Improve `push_dataset_to_hub` API + Add unit tests ( #231 )
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Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 15:18:02 +02:00
c38f535c9f
FIx make_dataset to match transforms config ( #264 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-12 19:45:42 +02:00
ff8f6aa6cd
Add data augmentation in LeRobotDataset ( #234 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
2024-06-11 19:20:55 +02:00
54c9776bde
Improves Type Annotations ( #252 )
2024-06-10 19:09:48 +01:00
055a6f60c6
add root argument to the dataset visualizer to visualize local datasets ( #249 )
2024-06-10 10:44:32 +02:00
e54d6ea1eb
Make `display_sys_info.py` install-agnostic ( #253 )
2024-06-07 15:02:17 +02:00
1eb4bfe2e4
Fix videos_dir documentation ( #247 )
2024-06-05 08:25:20 +01:00
21f222fa1d
Add out_dir option to eval ( #244 )
2024-06-04 21:01:53 +02:00
33362dbd17
Adding parameter dataloading_s to console logs and wandb for tracking… ( #243 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-06-04 17:02:05 +01:00
b0d954c6e1
Fix bug in normalize to avoid divide by zero ( #239 )
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Co-authored-by: rj <rj@teleopstrio-razer.lan>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-06-04 12:21:28 +02:00
bd3111f28b
Fix `visualize_dataset.py --help` ( #241 )
2024-06-03 16:35:16 +02:00
cf15cba5fc
Remove redundant slicing operation in Diffusion Policy ( #240 )
2024-06-03 13:04:24 +01:00
d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 ( #228 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 15:31:02 +02:00
504d2aaf48
add EpisodeAwareSampler ( #217 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 13:43:47 +01:00
83f4f7f7e8
Add precision param to format_big_number ( #232 )
2024-05-31 10:19:01 +02:00
633115d861
Fix chaining in MultiLerobotDataset ( #233 )
2024-05-31 09:03:28 +01:00
57fb5fe8a6
Improve documentation on VAE encoder inputs ( #215 )
2024-05-30 19:16:44 +02:00
111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s ( #229 )
2024-05-30 16:12:21 +01:00
265b0ec44d
Refactor env to add key word arguments from config yaml ( #223 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-30 13:45:22 +02:00
2c2e4e14ed
Add `aloha_dora_format.py` ( #201 )
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Co-authored-by: Thomas Wolf <thomwolf@users.noreply.github.com>
2024-05-30 11:26:39 +02:00
3d625ae6d3
Handle `crop_shape=None` in Diffusion Policy ( #219 )
2024-05-28 18:27:33 +01:00
e3b9f1c19b
Add resume training ( #205 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 12:04:23 +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
b6c216b590
Add Automatic Mixed Precision option for training and evaluation. ( #199 )
2024-05-20 18:57:54 +01:00
2b270d085b
Disable online training ( #202 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-20 18:27:54 +01:00
c4da689171
Hot fix to compute validation loss example test ( #200 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-20 18:30:11 +02:00
9b62c25f6c
Adds split_by_episodes to LeRobotDataset ( #158 )
2024-05-20 14:04:04 +02:00
01eae09ba6
Fix aloha real-world datasets ( #175 )
2024-05-20 13:48:09 +02:00
096149b118
Disable wandb by default ( #195 )
2024-05-17 18:01:39 +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
fc5cf3d84a
Fixes issue #152 - error with creating wandb artifact ( #172 )
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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
ced3de4c94
Fix hanging in visualize_dataset.py when num_workers > 0 ( #165 )
2024-05-11 19:28:22 +03:00
1249aee3ac
Enable logging all the information returned by the `forward` methods of policies ( #151 )
2024-05-10 07:45:32 +01:00
b187942db4
Add context manager for seeding ( #164 )
2024-05-09 17:58:39 +01:00
473345fdf6
Fix stats override in ACT config ( #161 )
2024-05-09 15:16:47 +01:00
e89521dfa0
Enable tests for TD-MPC ( #160 )
2024-05-09 13:42:12 +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
26d9a070d8
Add policy and dataset tags to WandB logging ( #144 )
2024-05-07 09:09:21 +01:00
a8e245fb31
Remove loss masking from diffusion policy ( #135 )
2024-05-06 07:27:01 +01:00
f5e76393eb
Release cleanup ( #132 )
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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
6eaffbef1d
Add 25 real world datasets (static + mobile aloha) ( #133 )
2024-05-05 19:13:11 +02:00
6e6feae09e
Remove additional frame from eval render ( #137 )
2024-05-05 13:49:53 +02:00
f6fe162432
Rename Diffusion Policy model repository ( #136 )
2024-05-05 12:06:58 +01:00
f3bba0270d
Remove EMA model from Diffusion Policy ( #134 )
2024-05-05 11:26:12 +01:00
d747195c57
Fix loops in eval.py ( #128 )
2024-05-04 15:21:10 +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
19812ca470
Add dataset visualization with rerun.io ( #131 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-04 16:07:14 +02:00
c015252e20
Remove batch length restrictions in select_action ( #123 )
2024-05-04 15:33:55 +02:00
bccee745c3
Refactor eval.py ( #127 )
2024-05-03 17:33:16 +01:00
b2cda12f87
Add video decoding to LeRobotDataset ( #92 )
2024-05-03 00:50:19 +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
e4e739f4f8
Refactor push_dataset_to_hub ( #118 )
2024-04-30 14:25:41 +02:00
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
1ec5f77f7c
Remove mask check key in XarmProcessor ( #117 )
2024-04-29 22:00:37 +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
5b4fd8891d
Update UmiProcessor default fps to 10 ( #116 )
2024-04-29 12:11:34 +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
55dc9f7f51
Refactor the download and publication of the datasets and convert it into CLI script ( #95 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-29 00:08:17 +02:00
81e490d46f
Add UMI-gripper dataset ( #83 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-28 18:41:07 +02:00
45f351c618
Make sure targets are normalized too ( #106 )
2024-04-26 11:18:39 +01:00
659c69a1c0
Refactor datasets into LeRobotDataset ( #91 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 12:23:12 +02:00
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
c1bcf857c5
Fix online training ( #94 )
2024-04-23 18:54:55 +02:00
1030ea0070
Loads episode_data_index and stats during dataset __init__ ( #85 )
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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
e2168163cd
Quality of life patches for eval.py ( #86 )
2024-04-19 12:33:47 +01:00
8d980940a2
Fix tolerance for delta_timestamps ( #84 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-18 18:48:22 +01:00
7ad1909641
Tests cleaning & simplification ( #81 )
2024-04-18 14:47:42 +02:00
0928afd37d
Improve dataset examples ( #82 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-18 11:43:16 +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
296bbfe1ad
Merge branch 'fix_stats_saving' into unify_policy_api
2024-04-17 09:08:04 +01:00
c9454333d8
revision
2024-04-17 09:02:35 +01:00
1331d3b4e4
fix issue with saving freshly computed stats
2024-04-17 08:49:28 +01:00
bff4b673c9
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-17 08:08:57 +01:00
3f1c322d56
Merge pull request #73 from huggingface/user/rcadene/2024_04_14_hf_datasets
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Use Hugging Face datasets.Dataset
2024-04-16 21:54:37 +02:00
fbc31d906c
Merge pull request #74 from huggingface/user/aliberts/2024_04_15_setup_contributions
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Setup contributions
2024-04-16 19:51:13 +02:00
91badebdfc
fix tests
2024-04-16 17:29:31 +00:00
4327e43f19
fix merge thingy
2024-04-16 17:24:25 +00:00
36d9e885ef
Address comments
2024-04-16 17:20:54 +00:00
b241ea46dd
move download_and_upload_dataset.py to root_dir
2024-04-16 17:20:53 +00:00
e09d25267e
fix online training
2024-04-16 17:20:53 +00:00
4a3eac4743
fix unit tests, stats was missing, visualize_dataset was broken
2024-04-16 17:20:53 +00:00
0980fff6cc
HF datasets works
2024-04-16 17:19:40 +00:00
5edd9a89a0
Move stats_dataset init into else statement -> faster init
2024-04-16 17:19:39 +00:00
c7a8218620
typo
2024-04-16 17:19:39 +00:00
67d79732f9
Add download_and_upload_dataset.py in script, update all datasets, update online training
2024-04-16 17:19:39 +00:00
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
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
376d75f8d3
Add env info
2024-04-16 10:35:43 +02:00
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
9241b5e830
pass step as kwarg
2024-04-15 09:52:54 +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
976a197f98
backup wip
2024-04-11 17:51:35 +01:00
c1a618e567
fix pusht images type from float32 to uint8, update gym-pusht dependencies
2024-04-11 14:29:16 +00:00
8e5b4365ac
fix
2024-04-11 13:57:22 +00:00
657b27cc8f
fix load_data_with_delta_timestamps and add tests
2024-04-11 13:00:09 +00:00
9229226522
Update lerobot/common/envs/utils.py
2024-04-11 10:35:17 +02:00
949f4d1a5b
remove comment
2024-04-10 17:21:36 +00:00
3914831585
remove __name__ outside script
2024-04-10 17:16:44 +00:00
f8c5a2eb10
remove comment
2024-04-10 17:14:02 +00:00
9874652c2f
enable test_compute_stats
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enable test_compute_stats
2024-04-10 17:12:54 +00:00
4c3d8b061e
Update lerobot/scripts/eval.py
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-04-10 18:07:27 +02:00
0f0113a7a6
print_cuda_memory_usage docstring
2024-04-10 16:03:39 +00:00
e8622154f8
Replace import gym_pusht in pusht dataset by dynamic import
2024-04-10 15:56:18 +00:00
8866b22db1
remove policy is None eval end-to-end tests
2024-04-10 15:09:04 +00:00
693f620df0
drop_last=False
2024-04-10 14:59:54 +00:00
48ec479660
fix end-to-end aloha
2024-04-10 14:26:30 +00:00
a18bcb39a7
cfg.env.fps
2024-04-10 14:02:11 +00:00
c08003278e
test_examples are passing
2024-04-10 13:45:45 +00:00
6082a7bc73
Enable test_available.py
2024-04-10 13:06:48 +00:00
7c8eb7ff19
Merge remote-tracking branch 'origin/user/rcadene/2024_03_31_remove_torchrl' into user/rcadene/2024_03_31_remove_torchrl
2024-04-10 11:34:51 +00:00
06573d7f67
online training works (loss goes down), remove repeat_action, eval_policy outputs episodes data, eval_policy uses max_episodes_rendered
2024-04-10 11:34:01 +00:00
575891e8ac
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-09 15:19:29 +01:00
d9019d9e7e
disable env_checker in factory
2024-04-09 10:24:28 +02:00
e6c6c2367f
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-09 08:36:28 +01:00
253e495df2
remove render(mode=visualization)
2024-04-09 03:46:05 +00:00
6902e01db0
tests are passing for aloha/act policies, removes abstract policy
2024-04-09 03:28:56 +00:00
73dfa3c8e3
tests for tdmpc and diffusion policy are passing
2024-04-09 02:50:32 +00:00
50e4c8050c
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 17:13:11 +01:00
1149894e1d
rename handle -> task
2024-04-08 14:54:52 +00:00
9c96349926
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 15:44:00 +01:00
Thomas Wolf
Marina Barannikov
Wael Karkoub
Thomas Lips
Simon Alibert
Alexander Soare
amandip7
Ruijie
Remi
Radek Osmulski
Akshay Kashyap
AshisGhosh
Ikko Eltociear Ashimine
Adil Zouitine
Quentin Gallouédec
Simon Alibert