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
c1bcf857c5
Fix online training ( #94 )
2024-04-23 18:54:55 +02:00
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
e2168163cd
Quality of life patches for eval.py ( #86 )
2024-04-19 12:33:47 +01:00
8d980940a2
Fix tolerance for delta_timestamps ( #84 )
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-18 18:48:22 +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
dd9c6eed15
Add temporary patch in TD-MPC
2024-04-17 16:27:57 +01:00
2298ddf226
wip
2024-04-17 16:21:37 +01:00
63e5ec6483
revert some formatting changes
2024-04-17 11:40:49 +01:00
c50a13ab31
draft
2024-04-17 10:50:54 +01:00
296bbfe1ad
Merge branch 'fix_stats_saving' into unify_policy_api
2024-04-17 09:08:04 +01:00
c9454333d8
revision
2024-04-17 09:02:35 +01:00
1331d3b4e4
fix issue with saving freshly computed stats
2024-04-17 08:49:28 +01:00
bff4b673c9
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-17 08:08:57 +01:00
3f1c322d56
Merge pull request #73 from huggingface/user/rcadene/2024_04_14_hf_datasets
...
Use Hugging Face datasets.Dataset
2024-04-16 21:54:37 +02:00
fbc31d906c
Merge pull request #74 from huggingface/user/aliberts/2024_04_15_setup_contributions
...
Setup contributions
2024-04-16 19:51:13 +02:00
91badebdfc
fix tests
2024-04-16 17:29:31 +00:00
4327e43f19
fix merge thingy
2024-04-16 17:24:25 +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
5edd9a89a0
Move stats_dataset init into else statement -> faster init
2024-04-16 17:19:39 +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
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
cb3978b5f3
backup wip
2024-04-16 18:12:39 +01:00
0eb899de73
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-16 17:30:41 +01:00
a9496fde39
revision 1
2024-04-16 17:15:51 +01:00
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
9c2f10bd04
ready for review
2024-04-16 13:43:58 +01:00
03b08eb74e
backup wip
2024-04-16 12:51:32 +01:00
376d75f8d3
Add env info
2024-04-16 10:35:43 +02:00
5608e659e6
backup wip
2024-04-15 19:06:44 +01:00
14f3ffb412
Merge remote-tracking branch 'upstream/main' into refactor_dp
2024-04-15 17:08:28 +01:00
30023535f9
revision 1
2024-04-15 10:56:43 +01:00
40d417ef60
Make sure to make remove all traces of omegaconf from policy config
2024-04-15 09:59:18 +01:00
9241b5e830
pass step as kwarg
2024-04-15 09:52:54 +01:00
ef4bd9e25c
Use dataclass config for ACT
2024-04-15 09:39:23 +01:00
34f00753eb
remove policy.py
2024-04-12 17:13:25 +01:00
55e484124a
draft pr
2024-04-12 17:03:59 +01:00
6d0a45a97d
ready for review
2024-04-12 11:36:52 +01:00
5666ec3ec7
backup wip
2024-04-11 18:33:54 +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
c1a618e567
fix pusht images type from float32 to uint8, update gym-pusht dependencies
2024-04-11 14:29:16 +00:00
8e5b4365ac
fix
2024-04-11 13:57:22 +00:00
657b27cc8f
fix load_data_with_delta_timestamps and add tests
2024-04-11 13:00:09 +00:00
9229226522
Update lerobot/common/envs/utils.py
2024-04-11 10:35:17 +02:00
949f4d1a5b
remove comment
2024-04-10 17:21:36 +00:00
3914831585
remove __name__ outside script
2024-04-10 17:16:44 +00:00
f8c5a2eb10
remove comment
2024-04-10 17:14:02 +00:00
9874652c2f
enable test_compute_stats
...
enable test_compute_stats
2024-04-10 17:12:54 +00:00
4c3d8b061e
Update lerobot/scripts/eval.py
...
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-04-10 18:07:27 +02:00
0f0113a7a6
print_cuda_memory_usage docstring
2024-04-10 16:03:39 +00:00
e8622154f8
Replace import gym_pusht in pusht dataset by dynamic import
2024-04-10 15:56:18 +00:00
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
6082a7bc73
Enable test_available.py
2024-04-10 13:06:48 +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
575891e8ac
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-09 15:19:29 +01:00
d9019d9e7e
disable env_checker in factory
2024-04-09 10:24:28 +02:00
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
6902e01db0
tests are passing for aloha/act policies, removes abstract policy
2024-04-09 03:28:56 +00:00
73dfa3c8e3
tests for tdmpc and diffusion policy are passing
2024-04-09 02:50:32 +00:00
50e4c8050c
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 17:13:11 +01:00
1149894e1d
rename handle -> task
2024-04-08 14:54:52 +00:00
9c96349926
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 15:44:00 +01:00
3f6dfa4916
Add gym-aloha, rename simxarm -> xarm, refactor
2024-04-08 16:24:11 +02:00
5dff6d8339
remove aloha
2024-04-08 16:22:13 +02:00
70aaf1c4cb
test_datasets.py are passing!
2024-04-08 14:16:57 +00:00
91e0e4e175
rever change
2024-04-08 15:05:40 +01:00
0b4c42f4ff
typos
2024-04-08 14:59:37 +01:00
62b18a7607
Add type hints
2024-04-08 14:51:45 +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
e1ac5dc62f
fix aloha pixels env test
2024-04-07 17:20:54 +00:00
4371a5570d
Remove latency, tdmpc policy passes tests (TODO: make it work with online RL)
2024-04-07 16:01:22 +00:00
44656d2706
test_envs are passing
2024-04-05 23:27:12 +00:00
8d2463f45b
backup wip
2024-04-05 18:46:30 +01:00
ecc7dd3b17
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 18:35:13 +01:00
5eff40b3d6
rename task, sim_transfer -> transfer
2024-04-05 17:18:37 +00:00
a2d3588fca
wrap dm_control aloha into gymnasium (TODO: properly seeding the env)
2024-04-05 17:17:31 +00:00
29032fbcd3
wrap dm_control aloha into gymnasium (TODO: properly seeding the env)
2024-04-05 17:17:14 +00:00
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
f56b1a0e16
WIP tdmpc
2024-04-05 13:40:31 +00:00
ab3cd3a7ba
(WIP) Add gym-xarm
2024-04-05 15:35:20 +02:00
0b8d27ff2c
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 12:48:11 +01:00
c17dffe944
policies/utils.py
2024-04-05 11:47:15 +00:00
8ba88ba250
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 12:34:14 +01:00
a420714ee4
fix: action_is_pad was missing in compute_loss
2024-04-05 11:33:39 +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
edb125b351
backup wip
2024-04-05 11:03:28 +01:00
5af00d0c1e
fix train.py, stats, eval.py (training is running)
2024-04-05 09:31:39 +00:00
3a4dfa82fe
backup wip
2024-04-04 18:34:41 +01:00
c93ce35d8c
WIP stats (TODO: run tests on stats + cmpute them)
2024-04-04 16:36:03 +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
278336a39a
backup wip
2024-04-03 19:23:22 +01:00
110ac5ffa1
backup wip
2024-04-03 14:21:07 +01:00
c7d70a8db9
Merge remote-tracking branch 'upstream/main' into refactor_act
2024-04-03 10:08:12 +01:00
caf4ffcf65
add TODO
2024-04-03 09:56:46 +01:00
c50a62dd6d
clarifying math
2024-04-03 09:47:38 +01:00
e9eb262293
numerically sound mean computation
2024-04-03 09:44:20 +01:00
65ef8c30d0
backup wip
2024-04-02 19:13:49 +01:00
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
a6edb85da4
Remove random sampling
2024-04-02 16:52:38 +01:00
95293d459d
fix stats computation
2024-04-02 16:40:33 +01:00
f1148b8c2d
Merge remote-tracking branch 'upstream/main' into finish_examples
2024-04-01 11:31:31 +01:00
6bddcb647e
Add test_aloha env test
2024-03-28 10:35:11 +01:00
b7c9c33072
revision
2024-03-27 18:33:48 +00:00
120f0aef5c
Merge remote-tracking branch 'upstream/main' into finish_examples
2024-03-27 17:52:36 +00:00
6cd671040f
fix revision
2024-03-27 13:22:14 +00:00
b6353964ba
fix bug: use provided revision instead of hardcoded one
2024-03-27 13:08:47 +00:00
64c8851c40
Merge branch 'tidy_diffusion_config' into update_diffusion_model
2024-03-27 13:06:08 +00:00
dc745e3037
Remove unused part of diffusion policy config
2024-03-27 13:05:13 +00:00
68d02c80cf
Remove b/c workaround
2024-03-27 12:03:19 +00:00
011f2d27fe
fix tests
2024-03-26 16:40:54 +00:00
1ed0110900
finish examples 2 and 3
2024-03-26 16:13:40 +00:00
9ced0cf1fb
unskip
2024-03-26 10:45:31 +00:00
5a46b8a2a9
fix tests
2024-03-26 10:24:46 +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
98b9631aa6
Add n_obs_steps in default.yaml config
2024-03-26 10:08:00 +01:00
c5635b7d94
Minor fixes for #47
2024-03-25 18:50:47 +01:00
bcfdba109f
Update pre-commit & run on all files
2024-03-25 17:29:35 +01:00
7cdd6d2450
Renamed set_seed -> set_global_seed
2024-03-25 17:19:28 +01:00
058ac991eb
Add simxarm back into tests
2024-03-25 16:35:46 +01:00
d3adaf1379
Add stat.pth for xarm_lift_medium
2024-03-25 15:55:45 +01:00
dc89166bee
Upgrade gym to gymnasium
2024-03-25 15:12:21 +01:00
5ef813ff1e
Remove deprecated code
2024-03-25 13:22:49 +01:00
c0833f1c2d
Remove simxarm download and preproc hack
2024-03-25 12:41:17 +01:00
de5c30405e
fix wrong version
2024-03-25 12:35:06 +01:00
462e7469e8
Add xarm_lift_medium revision 1.0 to hub
2024-03-25 12:28:07 +01:00
be6364f109
fix, it's training now!
2024-03-25 12:28:07 +01:00
127de1258d
WIP
2024-03-25 12:28:07 +01:00
b905111895
fix render issue
2024-03-25 12:28:07 +01:00
0c41675986
fix __init__ import Base
2024-03-25 12:28:07 +01:00
Remi
Alexander Soare
Simon Alibert
Simon Alibert