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25 Commits

Author SHA1 Message Date
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
Simon Alibert 7ad1909641
Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +02:00
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
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
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 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 b7c9c33072 revision 2024-03-27 18:33:48 +00:00
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>

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Add test_examples.py
 2024-03-26 10:10:43 +00:00
Simon Alibert 058ac991eb Add simxarm back into tests 2024-03-25 16:35:46 +01:00
Cadene 40f3783fca v1.2 2024-03-23 11:41:56 +00:00
Alexander Soare b54cdc9a0f break_when_any_done==True for batch_size==1 2024-03-19 19:08:25 +00:00
Alexander Soare 46ac87d2a6 ready for review 2024-03-19 18:59:08 +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 ba91976944 wip: still needs batch logic for act and tdmp 2024-03-14 15:24:10 +00:00
Cadene 5881eec376 Add DEVICE constant from LEROBOT_TESTS_DEVICE 2024-03-12 14:14:39 +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 6f5c731936 Rename test -> tests 2024-02-25 10:51:07 +00:00