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lerobot
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98 Commits

Author SHA1 Message Date
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 bf2eebb090
Update readme & remove example 1 (#108) 
Co-authored-by: Remi <re.cadene@gmail.com>
- Update instructions for installing the library
- Remove deprecated example 1 (as we are now only using `LeRobotDataset` since #91)
 2024-04-27 09:48:02 +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
Simon Alibert b980c5dd9e
CI nightlies cpu/gpu & cleanup (#75) 2024-04-25 14:58:39 +02:00
Remi 659c69a1c0
Refactor datasets into LeRobotDataset (#91) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 12:23:12 +02:00
Remi e760e4cd63
Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +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
Simon Alibert 7ad1909641
Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +02:00
Remi 0928afd37d
Improve dataset examples (#82) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-18 11:43:16 +02:00
Alexander Soare bff4b673c9 Merge remote-tracking branch 'upstream/main' into unify_policy_api 2024-04-17 08:08:57 +01:00
Cadene 91badebdfc fix tests 2024-04-16 17:29:31 +00:00
Cadene 36d9e885ef Address comments 2024-04-16 17:20:54 +00:00
Cadene 4a3eac4743 fix unit tests, stats was missing, visualize_dataset was broken 2024-04-16 17:20:53 +00:00
Cadene 0980fff6cc HF datasets works 2024-04-16 17:19:40 +00:00
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
Alexander Soare 0eb899de73 Merge remote-tracking branch 'upstream/main' into unify_policy_api 2024-04-16 17:30:41 +01:00
Alexander Soare a9496fde39 revision 1 2024-04-16 17:15:51 +01:00
Alexander Soare 8a322da422 backup wip 2024-04-16 16:35:04 +01:00
Alexander Soare 23be5e1e7b backup wip 2024-04-16 16:31:44 +01:00
Alexander Soare 43a614c173 Fix test_examples 2024-04-16 14:07:16 +01:00
Alexander Soare 9c2f10bd04 ready for review 2024-04-16 13:43:58 +01:00
Alexander Soare 03b08eb74e backup wip 2024-04-16 12:51:32 +01:00
Alexander Soare 5608e659e6 backup wip 2024-04-15 19:06:44 +01:00
Alexander Soare 30023535f9 revision 1 2024-04-15 10:56:43 +01:00
Alexander Soare ef4bd9e25c Use dataclass config for ACT 2024-04-15 09:39:23 +01:00
Cadene c1a618e567 fix pusht images type from float32 to uint8, update gym-pusht dependencies 2024-04-11 14:29:16 +00:00
Cadene 4216636084 fix 2024-04-11 14:01:23 +00:00
Cadene 2f4af32d3f small fix 2024-04-11 13:21:06 +00:00
Cadene 36de77ac18 fix and clarify tests 2024-04-11 13:16:47 +00:00
Cadene 92701088a3 small fix 2024-04-11 13:04:27 +00:00
Cadene 657b27cc8f fix load_data_with_delta_timestamps and add tests 2024-04-11 13:00:09 +00:00
Cadene 9874652c2f enable test_compute_stats 
enable test_compute_stats
 2024-04-10 17:12:54 +00:00
Cadene ec4bf115d0 fix example_1 test 2024-04-10 13:55:59 +00:00
Cadene 6082a7bc73 Enable test_available.py 2024-04-10 13:06:48 +00:00
Simon Alibert 7f4ff0b170 CI fix attempt 2024-04-09 11:58:59 +02:00
Simon Alibert d21543eb4f Add env.close() 2024-04-09 10:41:20 +02:00
Cadene 6902e01db0 tests are passing for aloha/act policies, removes abstract policy 2024-04-09 03:28:56 +00:00
Cadene 73dfa3c8e3 tests for tdmpc and diffusion policy are passing 2024-04-09 02:50:32 +00:00
Cadene 1149894e1d rename handle -> task 2024-04-08 14:54:52 +00:00
Simon Alibert 3f6dfa4916 Add gym-aloha, rename simxarm -> xarm, refactor 2024-04-08 16:24:11 +02:00
Cadene 70aaf1c4cb test_datasets.py are passing! 2024-04-08 14:16:57 +00:00
Cadene 4371a5570d Remove latency, tdmpc policy passes tests (TODO: make it work with online RL) 2024-04-07 16:01:22 +00:00
Cadene 44656d2706 test_envs are passing 2024-04-05 23:27:12 +00:00
Cadene 29032fbcd3 wrap dm_control aloha into gymnasium (TODO: properly seeding the env) 2024-04-05 17:17:14 +00:00
Cadene 26602269cd test_envs.py are passing, remove simxarm and pusht directories 2024-04-05 16:21:07 +00:00
Simon Alibert ab3cd3a7ba (WIP) Add gym-xarm 2024-04-05 15:35:20 +02:00
Cadene 5af00d0c1e fix train.py, stats, eval.py (training is running) 2024-04-05 09:31:39 +00:00
Cadene c93ce35d8c WIP stats (TODO: run tests on stats + cmpute them) 2024-04-04 16:36:03 +00:00
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