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139 Commits

Author SHA1 Message Date
Cadene 253e495df2 remove render(mode=visualization) 2024-04-09 03:46:05 +00:00
Alexander Soare 91e0e4e175 rever change 2024-04-08 15:05:40 +01:00
Alexander Soare 86365adf9f revision 2024-04-08 14:44:46 +01:00
Alexander Soare 863f28ffd8 ready for review 2024-04-08 13:10:19 +01:00
Alexander Soare 1bab4a1dd5 Eval reproduction works with gym_aloha 2024-04-08 10:23:26 +01:00
Alexander Soare 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
Alexander Soare 8d2463f45b backup wip 2024-04-05 18:46:30 +01:00
Alexander Soare 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
Alexander Soare 1e71196fe3 backup wip 2024-04-05 17:38:29 +01:00
Cadene 26602269cd test_envs.py are passing, remove simxarm and pusht directories 2024-04-05 16:21:07 +00:00
Alexander Soare 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
Cadene ad3379a73a fix memory leak due to itertools.cycle 2024-04-05 10:59:32 +00:00
Alexander Soare 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
Cadene 5af00d0c1e fix train.py, stats, eval.py (training is running) 2024-04-05 09:31:39 +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 2b928eedd4 backup wip 2024-04-02 19:11:53 +01:00
Alexander Soare b7c9c33072 revision 2024-03-27 18:33:48 +00:00
Alexander Soare 6cd671040f fix revision 2024-03-27 13:22:14 +00:00
Alexander Soare 1ed0110900 finish examples 2 and 3 2024-03-26 16:13:40 +00:00
Cadene 4a8c5e238e issue with cat_and_write_video 2024-03-26 10:12:16 +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>

Add more comments

Add test_examples.py
 2024-03-26 10:10:43 +00:00
Simon Alibert c5635b7d94 Minor fixes for #47 2024-03-25 18:50:47 +01:00
Simon Alibert 7cdd6d2450 Renamed set_seed -> set_global_seed 2024-03-25 17:19:28 +01:00
Cadene be6364f109 fix, it's training now! 2024-03-25 12:28:07 +01:00
Alexander Soare 4a48b77540 fix normalization and data type 2024-03-25 09:44:03 +00:00
Alexander Soare bd40ffc53c revision 2024-03-22 15:43:45 +00:00
Alexander Soare d43fa600a0 only try to start env if it is closed 2024-03-22 15:32:55 +00:00
Alexander Soare e698d38a35 Merge remote-tracking branch 'upstream/main' into fix_environment_seeding 2024-03-22 15:11:15 +00:00
Alexander Soare 15ff3b3af8 add fixes for reproducibility 2024-03-22 15:06:57 +00:00
Alexander Soare 115927d0f6 make sure to pass stats.pth arg 2024-03-22 12:58:59 +00:00
Alexander Soare 529f42643d revision 2024-03-22 12:33:25 +00:00
Alexander Soare 8720c568d0 Add ability to eval hub model 2024-03-22 10:26:55 +00:00
Alexander Soare 41912b962b remove TODO 2024-03-21 13:51:26 +00:00
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 5332766a82 revision 2024-03-20 09:45:45 +00:00
Alexander Soare b1ec3da035 remove internal rendering hooks 2024-03-20 09:23:23 +00:00
Alexander Soare 52e149fbfd Only save video frames in first rollout 2024-03-20 08:32:11 +00:00
Alexander Soare 4f1955edfd Clear action queue when environment is reset 2024-03-20 08:31:06 +00:00
Alexander Soare b54cdc9a0f break_when_any_done==True for batch_size==1 2024-03-19 19:08:25 +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 09ddd9bf92 Merge branch 'main' into user/alexander-soare/multistep_policy_and_serial_env 2024-03-18 18:27:50 +00:00
Alexander Soare 8e346b379d switch between train and eval 2024-03-18 09:45:17 +00:00
Alexander Soare ba91976944 wip: still needs batch logic for act and tdmp 2024-03-14 15:24:10 +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
Cadene 816b2e9d63 fix more bugs in normalization 2024-03-11 11:03:51 +00:00
Remi Cadene f95ecd66fc Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements 2024-03-06 10:15:57 +00:00
Remi Cadene 2bcf2631b9 minor comment 2024-03-04 22:34:44 +00:00
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 4c400b41a5 Improve log msg in train.py 2024-03-03 13:22:09 +00:00
Remi Cadene cbbed590a9 Add mode to NormalizeTransform with mean_std or min_max (Not fully tested) 2024-03-03 13:19:02 +00:00
Simon Alibert b859e89936 Fix for PR #5 2024-03-03 13:05:21 +01:00
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 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 7e024fdce6 Ran pre-commit run --all-files 2024-02-29 13:37:48 +01:00
Cadene 5798979e9c comment 2024-02-28 18:31:54 +00:00
Cadene cf5063e50e Add diffusion policy (train and eval works, TODO: reproduce results) 2024-02-28 15:21:42 +00:00
Simon Alibert f1708c8a37 install fix 2024-02-28 12:35:49 +01:00
Cadene e543c9a42c small fix % 2024-02-27 11:54:31 +00:00
Cadene 7df542445c Small fix and improve logging message 2024-02-27 11:44:26 +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 ed80db2846 Sanitize cfg.env 2024-02-25 12:02:29 +00:00
Cadene 598bb496b0 Add policies/factory, Add test, Add _self_ in config 2024-02-25 10:50:23 +00:00
Cadene 64b5920e94 format 2024-02-24 18:19:18 +00:00
Cadene aed02dc7c6 Add multithreading for video generation, Speed policy sampling 2024-02-24 18:18:39 +00:00
Cadene 63d18475cc fix simxarm factory 2024-02-22 13:04:24 +00:00
Cadene e3643d6146 Wandb works, One output dir 2024-02-22 12:14:12 +00:00
Cadene ece89730e6 Add pusht dataset (TODO verify reward is aligned), Refactor visualize_dataset, Add video_dir, fps, state_dim, action_dim to config (Training works) 2024-02-21 00:49:40 +00:00
Cadene 3dc14b5576 Add Prod transform, Add test_factory 2024-02-20 14:22:16 +00:00
Cadene 3da6ffb2cb Fix unit tests, Refactor, Add pusht env, (TODO pusht replay buffer, image preprocessing) 2024-02-20 12:26:57 +00:00
Cadene a5c305a7a4 offline training + online finetuning converge to 33 reward! 2024-02-18 01:23:44 +00:00
Cadene 0b4084f0f8 Clean + alpha beta corresponds to config (before 0.7 and 0.9) 2024-02-16 16:27:54 +00:00
Cadene c202c2b3c2 Online finetuning runs (sometimes crash because of nans) 2024-02-16 15:13:24 +00:00
Cadene 228c045674 Eval reproduced! Train running (but not reproduced) 2024-02-10 15:46:24 +00:00
Cadene 937b2f8cba Add option for random policy 2024-01-31 13:54:32 +00:00
Cadene 5a5b190f70 Add common, refactor eval with eval_policy 2024-01-31 13:48:12 +00:00
Cadene 1e52499490 eval.mp4 works! 2024-01-30 23:30:14 +00:00
Cadene 1144819c29 First real commit, simxarm env added with torchrl! 2024-01-29 12:49:30 +00:00