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Author SHA1 Message Date
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
Alexander Soare a6ec4fbf58 remove try-catch 2024-04-03 09:53:15 +01:00
Alexander Soare e9eb262293 numerically sound mean computation 2024-04-03 09:44:20 +01:00
Alexander Soare 7242953197 revision 2024-04-02 19:19:13 +01:00
Alexander Soare c3234adc7d fix indentation 2024-04-02 16:59:19 +01:00
Alexander Soare 148df1c1d5 add comment on test 2024-04-02 16:57:25 +01:00
Alexander Soare a6edb85da4 Remove random sampling 2024-04-02 16:52:38 +01:00
Alexander Soare 95293d459d fix stats computation 2024-04-02 16:40:33 +01:00
Alexander Soare f1148b8c2d Merge remote-tracking branch 'upstream/main' into finish_examples 2024-04-01 11:31:31 +01:00
Simon Alibert 17c2bbbeb8 remove todo 2024-03-28 10:35:11 +01:00
Simon Alibert 6bddcb647e Add test_aloha env test 2024-03-28 10:35:11 +01:00
Alexander Soare b7c9c33072 revision 2024-03-27 18:33:48 +00:00
Alexander Soare be4441c7ff update README 2024-03-26 16:28:16 +00:00
Alexander Soare 1ed0110900 finish examples 2 and 3 2024-03-26 16:13:40 +00:00
Cadene 9ced0cf1fb unskip 2024-03-26 10:45:31 +00:00
Cadene 98534d1a63 skip 2024-03-26 10:42:53 +00:00
Cadene 5a46b8a2a9 fix tests 2024-03-26 10:24:46 +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 7cdd6d2450 Renamed set_seed -> set_global_seed 2024-03-25 17:19:28 +01:00
Simon Alibert 058ac991eb Add simxarm back into tests 2024-03-25 16:35:46 +01:00
Simon Alibert 1c24bbda3f WIP Upgrading simxam from mujoco-py to mujoco python bindings 2024-03-25 12:28:07 +01:00
Cadene 40f3783fca v1.2 2024-03-23 11:41:56 +00:00
Cadene f23a53c3e4 update stats.pth 2024-03-20 17:36:13 +00:00
Alexander Soare d16f6a93b3 Merge remote-tracking branch 'upstream/main' into user/alexander-soare/multistep_policy_and_serial_env 2024-03-20 09:01:45 +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
Cadene e799dc5e3f Improve mock_dataset 2024-03-19 16:38:07 +00:00
Cadene 10034e85c4 Aloha done 2024-03-19 16:03:42 +00:00
Alexander Soare ea17f4ce50 backup wip 2024-03-19 16:02:09 +00:00
Cadene 6a1a29386a Add replay_buffer directory in pusht datasets + aloha (WIP) 2024-03-19 15:49:45 +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
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
Simon Alibert f54ee7cda0 Fix paths 2024-03-10 16:51:50 +01:00
Simon Alibert 6c867d78ef Integrate pusht env from diffusion 2024-03-10 16:33:03 +01:00
Simon Alibert f2c7ab5b3b test ci 2024-03-09 15:41:23 +01:00
Cadene cde866dac0 reupload 2024-03-09 15:36:20 +01:00
Cadene a54a0feb63 remove mock 2024-03-09 15:36:20 +01:00
Cadene f440a681ad Add mock_dataset.py 2024-03-09 15:36:20 +01:00
Cadene 35bd577deb Add mock_dataset.py 2024-03-09 15:36:20 +01:00
Simon Alibert 74ad9d5154 Change pusht artifacts path 2024-03-09 15:36:20 +01:00
Simon Alibert 89eaab140b Add pusht test artifact 2024-03-09 15:36:20 +01:00
Simon Alibert 54b05bfb77 Comment aloha, add test to CI 2024-03-07 15:57:38 +01:00
Remi Cadene 524d29aa80 fix tests 2024-03-07 13:23:22 +01:00
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