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
1c24bbda3f
WIP Upgrading simxam from mujoco-py to mujoco python bindings
2024-03-25 12:28:07 +01:00
4a48b77540
fix normalization and data type
2024-03-25 09:44:03 +00:00
f3cfc8b3b4
Merge pull request #46 from huggingface/user/rcadene/2024_03_23_update_stats_v1.2
...
Fix bug with stats.pth + Move from cadene to lerobot + Update datasets to v1.2
2024-03-24 17:53:32 +01:00
d2ef43436c
move from cadene to lerobot
2024-03-23 13:34:35 +00:00
40f3783fca
v1.2
2024-03-23 11:41:56 +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
b9047fbdd2
fix environment seeding
2024-03-22 13:25:23 +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
4e10cd306b
revert changes to default.yaml
2024-03-21 10:27:07 +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
1bd50122be
Merge pull request #40 from huggingface/user/aliberts/2024_03_20_enable_mps_device
...
Enable mps backend for Apple silicon devices
2024-03-20 19:33:12 +01:00
4631d36c05
Add get_safe_torch_device in policies
2024-03-20 18:38:55 +01:00
82e6e01651
v1.1
2024-03-20 17:34:00 +00:00
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
32e3f71dd1
backup wip
2024-03-20 09:49:16 +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
d16f6a93b3
Merge remote-tracking branch 'upstream/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-20 09:01:45 +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
c5010fee9a
fix seeding
2024-03-20 08:21:33 +00:00
18fa88475b
Move reset_warning_issued flag to class attribute
2024-03-20 08:09:38 +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
7d5d99e036
Address more comments
2024-03-19 16:53:07 +00:00
10034e85c4
Aloha done
2024-03-19 16:03:42 +00:00
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
6a1a29386a
Add replay_buffer directory in pusht datasets + aloha (WIP)
2024-03-19 15:49:45 +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
bae7e7b41c
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 14:06:53 +00:00
3124f71ebd
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 14:04:23 +00:00
4ecfd17f9e
fix wandb artifact name and add disable option
2024-03-15 13:56:55 +00:00
b752833f3f
fix download
2024-03-15 13:19:18 +00:00
a45896dc8d
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 13:05:35 +00:00
5805a7ffb1
small fix in type + comments
2024-03-15 12:44:52 +00:00
41521f7e96
self.root is Path or None + The following packages are already present in the pyproject.toml and will be skipped:
...
- huggingface-hub
If you want to update it to the latest compatible version, you can use `poetry update package`.
If you prefer to upgrade it to the latest available version, you can use `poetry add package@latest`.
Nothing to add.
2024-03-15 10:56:46 +00:00
b10c9507d4
Small fix
2024-03-15 00:36:55 +00:00
a311d38796
Add aloha + improve readme
2024-03-15 00:30:11 +00:00
19730b3412
Add pusht on hf dataset (WIP)
2024-03-14 16:59:37 +00:00
a222c88c99
Merge branch 'user/alexander-soare/train_pusht' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-14 16:06:21 +00:00
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
98484ac68e
ready for review
2024-03-12 21:59:01 +00:00
9512d1d2f3
Merge branch 'main' into user/alexander-soare/train_pusht
2024-03-12 19:41:27 +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
87fcc536f9
wip - still need to verify full training run
2024-03-11 18:45:21 +00:00
48e70e044e
Merge pull request #18 from Cadene/user/aliberts/2024_03_11_dynamic_build_versioning
...
Add dynamic build versioning
2024-03-11 19:06:51 +01:00
4449c06823
Add comment
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-03-11 19:06:22 +01:00
304355c917
Merge remote-tracking branch 'origin/main' into train_pusht
2024-03-11 15:37:37 +00:00
2a01487494
early training loss as expected
2024-03-11 13:34:04 +00:00
78690d197f
Merge pull request #19 from Cadene/user/aliberts/2024_03_11_wandb_config
...
Configure wandb entity outside config
2024-03-11 14:17:44 +01:00
6d6c84b4a3
Remove entity from config
...
Co-authored-by: Remi <re.cadene@gmail.com>
2024-03-11 14:14:17 +01:00
fab2b3240b
Merge pull request #17 from Cadene/user/rcadene/2024_03_11_bugfix_compute_stats
...
Fix bugs with normalization
2024-03-11 13:44:07 +01:00
84a1647c01
fix import
2024-03-11 12:41:14 +00:00
ccd5dc5a42
fix training
2024-03-11 12:33:15 +00:00
00fe4f4f18
Configure wandb entity outside config
2024-03-11 13:09:46 +01:00
225eebde40
Add dynamic build versioning
2024-03-11 12:10:46 +01:00
816b2e9d63
fix more bugs in normalization
2024-03-11 11:03:51 +00:00
a7ef4a6a33
fix bug in compute_stats for action normalization
2024-03-11 09:47:54 +00:00
f54ee7cda0
Fix paths
2024-03-10 16:51:50 +01:00
134009f337
Remove init files
2024-03-10 16:38:49 +01:00
6c867d78ef
Integrate pusht env from diffusion
2024-03-10 16:33:03 +01:00
302b78962c
Integrate diffusion policy
2024-03-10 15:31:17 +01:00
59397fb44a
Move tdmpc files
2024-03-09 18:44:36 +01:00
89eaab140b
Add pusht test artifact
2024-03-09 15:36:20 +01:00
f1e2837d63
fix pusht data_dir path
2024-03-08 12:26:15 +01:00
524d29aa80
fix tests
2024-03-07 13:23:22 +01:00
d782b029e1
Add aloha dataset
2024-03-06 10:26:32 +00:00
49c0955f97
Merge pull request #7 from Cadene/user/rcadene/2024_03_05_abstract_replay_buffer
...
Add AbstractReplayBuffer
2024-03-06 11:25:24 +01:00
eed24b083a
small fix
2024-03-06 10:21:22 +00:00
f95ecd66fc
Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements
2024-03-06 10:15:57 +00:00
a6d353c419
Fix
2024-03-05 17:00:17 +01:00
2f80d71c3e
Remove noqa-F821
2024-03-05 10:22:21 +00:00
d4e0849970
Refactor datasets with abstract class
2024-03-05 10:20:57 +00:00
e132a267aa
offline_prioritized_sampler: true
2024-03-04 23:17:59 +00:00
a027f4edfb
Add cfg.offline_prioritized_sampler
2024-03-04 23:08:52 +00:00
2bcf2631b9
minor comment
2024-03-04 22:34:44 +00:00
e990f3e148
Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion
...
Make diffusion work
2024-03-04 18:30:40 +01:00
e29fbb50e8
Fix grad_clip_norm 0 -> 10, Fix normalization min_max to be per channel
2024-03-04 17:26:34 +00:00
cfc304e870
Refactor env queue, Training diffusion works (Still not converging)
2024-03-04 11:00:51 +00:00
fddd9f0311
Add possibility for the policy to provide a sequence of actions to the env
2024-03-03 14:02:24 +00:00
4c400b41a5
Improve log msg in train.py
2024-03-03 13:22:09 +00:00
0f2fa4d9ef
Add obs queue to pusht, Set n_obs_steps=2 for diffusion (Not fully tested)
2024-03-03 13:21:31 +00:00
cbbed590a9
Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)
2024-03-03 13:19:02 +00:00
b859e89936
Fix for PR #5
2024-03-03 13:05:21 +01:00
b33ec5a630
Add run on cpu-only compatibility
2024-03-03 12:47:26 +01:00
48ded3dbc7
fix
2024-03-02 18:11:50 +00:00
661bda45ea
imagenet_norm: False
2024-03-02 17:18:58 +00:00
80785f8d0e
Small fix, Refactor diffusion, Diffusion runs (TODO: remove normalization in diffusion)
2024-03-02 17:04:39 +00:00
45b4ecb727
pre-commit run -a
2024-03-02 15:58:21 +00:00
1ae6205269
Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion)
2024-03-02 15:53:29 +00:00
b5a2f460ea
fix bus error
2024-03-01 14:22:05 +00:00
c1942d45d3
Fixes for PR #4
2024-03-01 14:59:05 +01:00
b862145e22
Added pusht dataset auto-download
2024-03-01 14:31:54 +01:00
ca948c1e5b
fix zip strict=False
2024-03-01 00:45:23 +00:00
ae050d2e94
Solve conflicts + pre-commit run -a
2024-02-29 23:31:32 +00:00
0b9027f05e
Clean logging, Refactor
2024-02-29 23:21:27 +00:00
2c05b75f45
Fixes for PR #3
2024-02-29 21:46:41 +01:00
7e024fdce6
Ran pre-commit run --all-files
2024-02-29 13:37:48 +01:00
5798979e9c
comment
2024-02-28 18:31:54 +00:00
ac90b9c3ee
Fix diffusion (rm transpose), Add prefetch
2024-02-28 17:45:01 +00:00
cf5063e50e
Add diffusion policy (train and eval works, TODO: reproduce results)
2024-02-28 15:21:42 +00:00
f1708c8a37
install fix
2024-02-28 12:35:49 +01:00
98f8869743
WIP
2024-02-28 10:59:06 +01:00
e543c9a42c
small fix %
2024-02-27 11:54:31 +00:00
7df542445c
Small fix and improve logging message
2024-02-27 11:44:26 +00:00
21670dce90
Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)
2024-02-26 01:10:09 +00:00
5a219fed6e
Refactor policy config
2024-02-25 18:26:44 +00:00
b16c334825
Refactor configs to have env in seperate yaml + Fix training
2024-02-25 17:42:47 +00:00
eec134d72b
small change
2024-02-25 14:20:14 +00:00
ed80db2846
Sanitize cfg.env
2024-02-25 12:02:29 +00:00
9b469c4232
Fix pusht.yaml
2024-02-25 11:49:39 +00:00
0eb9b5d1a5
Sanitize cfg.wandb
2024-02-25 11:15:09 +00:00
e765e26b0b
Sanitize cfg.policy, Fix skip_frame pusht.yaml
2024-02-25 11:09:02 +00:00
598bb496b0
Add policies/factory, Add test, Add _self_ in config
2024-02-25 10:50:23 +00:00
64b5920e94
format
2024-02-24 18:19:18 +00:00
aed02dc7c6
Add multithreading for video generation, Speed policy sampling
2024-02-24 18:18:39 +00:00
591985c67d
Fix done in pusht, Fix --time in sbatch
2024-02-22 17:58:26 +00:00
63d18475cc
fix simxarm factory
2024-02-22 13:04:24 +00:00
96c53ad06f
remove comments
2024-02-22 12:15:14 +00:00
e3643d6146
Wandb works, One output dir
2024-02-22 12:14:12 +00:00
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
3dc14b5576
Add Prod transform, Add test_factory
2024-02-20 14:22:16 +00:00
3da6ffb2cb
Fix unit tests, Refactor, Add pusht env, (TODO pusht replay buffer, image preprocessing)
2024-02-20 12:26:57 +00:00
fdfb2010fd
black
2024-02-18 01:24:19 +00:00
a5c305a7a4
offline training + online finetuning converge to 33 reward!
2024-02-18 01:23:44 +00:00
0b4084f0f8
Clean + alpha beta corresponds to config (before 0.7 and 0.9)
2024-02-16 16:27:54 +00:00
c202c2b3c2
Online finetuning runs (sometimes crash because of nans)
2024-02-16 15:13:24 +00:00
228c045674
Eval reproduced! Train running (but not reproduced)
2024-02-10 15:46:24 +00:00
937b2f8cba
Add option for random policy
2024-01-31 13:54:32 +00:00
5a5b190f70
Add common, refactor eval with eval_policy
2024-01-31 13:48:12 +00:00
1e52499490
eval.mp4 works!
2024-01-30 23:30:14 +00:00
1144819c29
First real commit, simxarm env added with torchrl!
2024-01-29 12:49:30 +00:00
Alexander Soare
Cadene
Simon Alibert
Simon Alibert