97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml ( #429 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-10 17:12:45 +02:00
1a343c3591
Add support for Stretch (hello-robot) ( #409 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
2024-10-04 18:56:42 +02:00
26f97cfd17
Enable CI for robot devices with mocked versions ( #398 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-03 17:05:23 +02:00
c712d68f6a
Fix nightlies ( #443 )
2024-09-18 14:51:45 +02:00
beaa427504
Fix slow camera fps with Aloha ( #433 )
2024-09-12 14:20:24 +02:00
b0b8612eff
fix(calibrate): fix calibrate arms option type. should be str not int ( #418 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
2024-09-06 14:44:31 +02:00
429a463aff
Control aloha robot natively ( #316 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-04 19:28:05 +02:00
114e09f570
rm EpisodeSampler from viz ( #389 )
2024-08-30 10:53:55 +02:00
4806336816
Add the possibility to visualize language instructions in visualize_dataset_html.py ( #388 )
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Co-authored-by: Mishig <dmishig@gmail.com>
2024-08-28 11:50:31 +02:00
eb4c505cff
Support for converting OpenX datasets from RLDS format to LeRobotDataset ( #354 )
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Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-08-27 09:07:00 +02:00
9c7649f140
Make sure `init_hydra_config` does not require any keys ( #376 )
2024-08-23 12:27:08 +01:00
a2592a5563
Provide more information to the user ( #358 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-08-23 11:00:35 +01:00
b98ea415c1
Add dataset cards ( #363 )
2024-08-16 10:08:44 +02:00
bbe9057225
Improve control robot ; Add process to configure motor indices ( #326 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-08-15 18:11:33 +02:00
2252b42337
Add visualize_dataset_html with `http.server` ( #188 )
2024-08-08 20:19:06 +03:00
f8a6574698
Add online training with TD-MPC as proof of concept ( #338 )
2024-07-25 11:16:38 +01:00
0b21210d72
Convert datasets to av1 encoding ( #302 )
2024-07-22 20:08:59 +02:00
461d5472d3
Fix visualize_image_transforms ( #333 )
2024-07-18 22:26:00 +02:00
8865e19c12
Fix datasets missing versions ( #318 )
2024-07-16 23:02:31 +02:00
5f5efe7cb9
Improve error message when attempting to overwrite a training output folder ( #322 )
2024-07-16 16:50:31 +01:00
5e54e39795
Add real robot devices and scripts to control real robot ( #288 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-07-15 17:43:10 +02:00
5ffcb48a9a
Add available list of raw repo ids ( #312 )
2024-07-13 11:30:50 +02:00
a4d77b99f0
Include `observation.environment_state` with keypoints in PushT dataset ( #303 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 08:27:40 +01:00
7bd5ab16d1
Fix generation of dataset test artifact ( #306 )
2024-07-05 11:02:26 +01:00
7d1542cae1
Add VQ-BeT ( #166 )
2024-06-26 08:55:02 +01:00
9aa4cdb976
Checkpoint on final step of training even when it doesn't coincide with `save_freq`. ( #284 )
2024-06-20 08:27:01 +01:00
2abef3bef9
Enable `video_reader` backend ( #220 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-06-19 17:15:25 +02:00
11f1cb5dc9
Bug fix: fix setting different learning rates between backbone and main model in ACT policy ( #280 )
2024-06-18 13:31:35 +01:00
e28fa2344c
added visualization for min and max transforms ( #271 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-06-17 09:09:57 +02:00
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
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
bd3111f28b
Fix `visualize_dataset.py --help` ( #241 )
2024-06-03 16:35:16 +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
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
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
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
01eae09ba6
Fix aloha real-world datasets ( #175 )
2024-05-20 13:48:09 +02:00
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
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
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
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 )
...
- 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
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
d1855a202a
Refactor TD-MPC ( #103 )
...
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 )
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-01 16:17:18 +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 )
...
- 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
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
791506dfb8
Remove warnings ( #111 )
...
- 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 )
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-29 00:08:17 +02:00
45f351c618
Make sure targets are normalized too ( #106 )
2024-04-26 11:18:39 +01:00
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
7ad1909641
Tests cleaning & simplification ( #81 )
2024-04-18 14:47:42 +02:00
0928afd37d
Improve dataset examples ( #82 )
...
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-18 11:43:16 +02:00
bff4b673c9
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-17 08:08:57 +01:00
91badebdfc
fix tests
2024-04-16 17:29:31 +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
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
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
9241b5e830
pass step as kwarg
2024-04-15 09:52:54 +01:00
6d0a45a97d
ready for review
2024-04-12 11:36:52 +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
8e5b4365ac
fix
2024-04-11 13:57:22 +00:00
949f4d1a5b
remove comment
2024-04-10 17:21:36 +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
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
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
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
91e0e4e175
rever change
2024-04-08 15:05:40 +01:00
86365adf9f
revision
2024-04-08 14:44:46 +01:00
863f28ffd8
ready for review
2024-04-08 13:10:19 +01:00
1bab4a1dd5
Eval reproduction works with gym_aloha
2024-04-08 10:23:26 +01:00
e982c732f1
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-08 09:25:45 +01:00
8d2463f45b
backup wip
2024-04-05 18:46:30 +01:00
ab2286025b
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 18:06:00 +01:00
1e71196fe3
backup wip
2024-04-05 17:38:29 +01:00
26602269cd
test_envs.py are passing, remove simxarm and pusht directories
2024-04-05 16:21:07 +00:00
4863e54ce9
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 12:00:31 +01:00
ad3379a73a
fix memory leak due to itertools.cycle
2024-04-05 10:59:32 +00:00
9d77f5773d
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 11:41:11 +01:00
5af00d0c1e
fix train.py, stats, eval.py (training is running)
2024-04-05 09:31:39 +00:00
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
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
b7c9c33072
revision
2024-03-27 18:33:48 +00:00
6cd671040f
fix revision
2024-03-27 13:22:14 +00:00
1ed0110900
finish examples 2 and 3
2024-03-26 16:13:40 +00:00
4a8c5e238e
issue with cat_and_write_video
2024-03-26 10:12:16 +00:00
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
c5635b7d94
Minor fixes for #47
2024-03-25 18:50:47 +01:00
7cdd6d2450
Renamed set_seed -> set_global_seed
2024-03-25 17:19:28 +01:00
be6364f109
fix, it's training now!
2024-03-25 12:28:07 +01:00
4a48b77540
fix normalization and data type
2024-03-25 09:44:03 +00:00
bd40ffc53c
revision
2024-03-22 15:43:45 +00:00
d43fa600a0
only try to start env if it is closed
2024-03-22 15:32:55 +00:00
e698d38a35
Merge remote-tracking branch 'upstream/main' into fix_environment_seeding
2024-03-22 15:11:15 +00:00
15ff3b3af8
add fixes for reproducibility
2024-03-22 15:06:57 +00:00
115927d0f6
make sure to pass stats.pth arg
2024-03-22 12:58:59 +00:00
529f42643d
revision
2024-03-22 12:33:25 +00:00
8720c568d0
Add ability to eval hub model
2024-03-22 10:26:55 +00:00
41912b962b
remove TODO
2024-03-21 13:51:26 +00:00
72d3c3120b
Merge remote-tracking branch 'upstream/main' into fix_pusht_diffusion
2024-03-21 10:20:52 +00:00
acf1174447
ready for review
2024-03-21 10:18:50 +00:00
4631d36c05
Add get_safe_torch_device in policies
2024-03-20 18:38:55 +01:00
d323993569
backup wip
2024-03-20 15:01:27 +00:00
4b7ec81dde
remove abstracmethods, fix online training
2024-03-20 14:49:41 +00:00
5332766a82
revision
2024-03-20 09:45:45 +00:00
b1ec3da035
remove internal rendering hooks
2024-03-20 09:23:23 +00:00
52e149fbfd
Only save video frames in first rollout
2024-03-20 08:32:11 +00:00
4f1955edfd
Clear action queue when environment is reset
2024-03-20 08:31:06 +00:00
b54cdc9a0f
break_when_any_done==True for batch_size==1
2024-03-19 19:08:25 +00:00
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
88347965c2
revert dp changes, make act and tdmpc batch friendly
2024-03-18 19:18:21 +00:00
09ddd9bf92
Merge branch 'main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-18 18:27:50 +00:00
8e346b379d
switch between train and eval
2024-03-18 09:45:17 +00:00
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
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
816b2e9d63
fix more bugs in normalization
2024-03-11 11:03:51 +00:00
Remi
Simon Alibert
Jack Vial
Mishig
Michel Aractingi
Alexander Soare
Zhuoheng Li
Remi
Seungjae Lee
Thomas Wolf
Marina Barannikov
Wael Karkoub
Thomas Lips
amandip7
Radek Osmulski
Quentin Gallouédec
Adil Zouitine
Simon Alibert