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101 Commits

Author SHA1 Message Date
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 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
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
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
Simon Alibert 4631d36c05 Add get_safe_torch_device in policies 2024-03-20 18:38:55 +01:00
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 cfc304e870 Refactor env queue, Training diffusion works (Still not converging) 2024-03-04 11:00:51 +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
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 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
Simon Alibert f1708c8a37 install fix 2024-02-28 12:35:49 +01:00
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 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 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 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 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