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62 Commits

Author SHA1 Message Date
Alexander Soare a4d77b99f0
Include `observation.environment_state` with keypoints in PushT dataset (#303) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 08:27:40 +01:00
Simon Alibert 2abef3bef9
Enable `video_reader` backend (#220) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 17:15:25 +02:00
Remi d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Alexander Soare 3d625ae6d3
Handle `crop_shape=None` in Diffusion Policy (#219) 2024-05-28 18:27:33 +01:00
Alexander Soare e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Simon Alibert 35c1ce7a66
Fix install issues (#191) 2024-05-23 14:25:18 +02:00
Remi 01eae09ba6
Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Akshay Kashyap c9069df9f1
Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Simon Alibert 89c6be84ca
Limit datasets major update (#176) 
Co-authored-by: Quentin Lhoest <42851186+lhoestq@users.noreply.github.com>
Co-authored-by: Quentin Lhoest <lhoest.q@gmail.com>
 2024-05-12 08:15:07 +02:00
Simon Alibert 7bb5b15f4c
Remove dependencies upper bounds constraints (#145) 2024-05-08 17:23:10 +00:00
Simon Alibert eb6bfe01b2
Relax version contraints & poetry lock (#139) 2024-05-06 17:38:29 +02:00
Alexander Soare f3bba0270d
Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Remi 19812ca470
Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Simon Alibert b7b69fcc3d
Publish environments (#120) 2024-05-03 16:25:45 +02:00
Remi b2cda12f87
Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
Alexander Soare 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
Simon Alibert 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
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 a4b6c5e3b1
Add torchaudio (#110) 2024-04-27 14:00:38 +02:00
Simon Alibert b980c5dd9e
CI nightlies cpu/gpu & cleanup (#75) 2024-04-25 14:58:39 +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
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
Simon Alibert 70e8de95f7 Clean & update pyproject 2024-04-16 12:09:56 +02:00
Cadene c1a618e567 fix pusht images type from float32 to uint8, update gym-pusht dependencies 2024-04-11 14:29:16 +00:00
Simon Alibert 0593d20348 Fix gym-xarm 2024-04-11 08:51:37 +02:00
Simon Alibert 91ff69d64c Update gym_xarm 2024-04-09 17:08:36 +02:00
Alexander Soare 575891e8ac Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 15:19:29 +01:00
Simon Alibert dfaacbcf5a Split dev/test dependencies 2024-04-09 10:40:11 +02:00
Simon Alibert 2573e89e1d Remove direct dependencies 2024-04-09 10:38:08 +02:00
Simon Alibert 274f20b49d Update gym-pusht 2024-04-09 10:25:41 +02:00
Alexander Soare e6c6c2367f Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 08:36:28 +01:00
Cadene 19e7661b8d Remove torchrl/tensordict from dependecies + update poetry cpu 2024-04-09 03:50:49 +00:00
Cadene 73dfa3c8e3 tests for tdmpc and diffusion policy are passing 2024-04-09 02:50:32 +00:00
Alexander Soare 50e4c8050c Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-08 17:13:11 +01:00
Simon Alibert 3f6dfa4916 Add gym-aloha, rename simxarm -> xarm, refactor 2024-04-08 16:24:11 +02:00
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 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
Simon Alibert ab3cd3a7ba (WIP) Add gym-xarm 2024-04-05 15:35:20 +02:00
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 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
Simon Alibert 58df2066a9 Add pytest-cov 2024-03-28 10:35:11 +01:00
Simon Alibert 643d64e2a8 Add cmake 2024-03-27 16:33:26 +01:00
Simon Alibert 0fae5b206b Allow mujoco minor revision updates 2024-03-25 17:25:55 +01:00
Simon Alibert dc89166bee Upgrade gym to gymnasium 2024-03-25 15:12:21 +01:00
Simon Alibert 1c24bbda3f WIP Upgrading simxam from mujoco-py to mujoco python bindings 2024-03-25 12:28:07 +01:00
Alexander Soare b562f89c3b update deps 2024-03-21 11:42:45 +00:00
Alexander Soare acf1174447 ready for review 2024-03-21 10:18:50 +00:00