97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml ( #429 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-10 17:12:45 +02:00
1a343c3591
Add support for Stretch (hello-robot) ( #409 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
2024-10-04 18:56:42 +02:00
92573486a8
Don't use async envs by default ( #448 )
2024-09-20 15:22:52 +02:00
9ff829a3a1
Add comments for Aloha ( #417 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-06 21:07:52 +02:00
9c9f5cac90
Add IntelRealSenseCamera ( #410 )
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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: shantanuparab-tr <shantanu@trossenrobotics.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-05 23:59:41 +02:00
429a463aff
Control aloha robot natively ( #316 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-04 19:28:05 +02:00
27ba2951d1
fix(tdmpc): Add missing save_freq to tdmpc policy config ( #404 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-09-02 19:04:41 +01:00
1ce418e4a1
Add koch bimanual ( #385 )
2024-08-28 00:53:31 +02:00
9ce98bb93c
Add safety limits on relative action target ( #373 )
2024-08-26 14:30:18 +01:00
97086cdcdf
Make gripper_open_degree a config param ( #379 )
2024-08-26 12:28:16 +01:00
a2592a5563
Provide more information to the user ( #358 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-08-23 11:00:35 +01:00
bbe9057225
Improve control robot ; Add process to configure motor indices ( #326 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-08-15 18:11:33 +02:00
f8a6574698
Add online training with TD-MPC as proof of concept ( #338 )
2024-07-25 11:16:38 +01:00
c0101f0948
Fix ACT temporal ensembling ( #319 )
2024-07-16 10:27:21 +01:00
5e54e39795
Add real robot devices and scripts to control real robot ( #288 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-07-15 17:43:10 +02:00
cc2f6e7404
Train diffusion pusht_keypoints ( #307 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 12:35:50 +01:00
964f9e86d6
Cleanup config defaults ( #300 )
2024-07-04 11:53:29 +02:00
342f429f1c
Add test to make sure policy dataclass configs match yaml configs ( #292 )
2024-06-26 09:09:40 +01:00
7d1542cae1
Add VQ-BeT ( #166 )
2024-06-26 08:55:02 +01:00
9aa4cdb976
Checkpoint on final step of training even when it doesn't coincide with `save_freq`. ( #284 )
2024-06-20 08:27:01 +01:00
2abef3bef9
Enable `video_reader` backend ( #220 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-06-19 17:15:25 +02:00
ff8f6aa6cd
Add data augmentation in LeRobotDataset ( #234 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
2024-06-11 19:20:55 +02:00
d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 ( #228 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 15:31:02 +02:00
504d2aaf48
add EpisodeAwareSampler ( #217 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 13:43:47 +01:00
111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s ( #229 )
2024-05-30 16:12:21 +01:00
265b0ec44d
Refactor env to add key word arguments from config yaml ( #223 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-30 13:45:22 +02:00
e3b9f1c19b
Add resume training ( #205 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 12:04:23 +01:00
b6c216b590
Add Automatic Mixed Precision option for training and evaluation. ( #199 )
2024-05-20 18:57:54 +01:00
2b270d085b
Disable online training ( #202 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-20 18:27:54 +01:00
096149b118
Disable wandb by default ( #195 )
2024-05-17 18:01:39 +01:00
5ec0af62c6
Explain why n_encoder_layers=1 ( #193 )
2024-05-17 15:05:40 +01:00
625f0557ef
Act temporal ensembling ( #186 )
2024-05-17 14:57:49 +01:00
473345fdf6
Fix stats override in ACT config ( #161 )
2024-05-09 15:16:47 +01:00
e89521dfa0
Enable tests for TD-MPC ( #160 )
2024-05-09 13:42:12 +01:00
460df2ccea
Support for DDIMScheduler in Diffusion Policy ( #146 )
2024-05-08 18:05:16 +01:00
a8e245fb31
Remove loss masking from diffusion policy ( #135 )
2024-05-06 07:27:01 +01:00
f5e76393eb
Release cleanup ( #132 )
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Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
2024-05-06 03:03:14 +02:00
f3bba0270d
Remove EMA model from Diffusion Policy ( #134 )
2024-05-05 11:26:12 +01:00
c77633c38c
Add regression tests ( #119 )
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- Add `tests/scripts/save_policy_to_safetensor.py` to generate test artifacts
- Add `test_backward_compatibility to test generated outputs from the policies against artifacts
2024-05-04 16:20:30 +02:00
bccee745c3
Refactor eval.py ( #127 )
2024-05-03 17:33:16 +01:00
d1855a202a
Refactor TD-MPC ( #103 )
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Co-authored-by: Cadene <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-01 16:40:04 +01:00
a4891095e4
Use PytorchModelHubMixin to save models as safetensors ( #125 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-01 16:17:18 +01:00
9d60dce6f3
Tidy up yaml configs ( #121 )
2024-04-30 16:08:59 +01:00
791506dfb8
Remove warnings ( #111 )
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- 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
45f351c618
Make sure targets are normalized too ( #106 )
2024-04-26 11:18:39 +01:00
659c69a1c0
Refactor datasets into LeRobotDataset ( #91 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 12:23:12 +02:00
e760e4cd63
Move normalization to policy for act and diffusion ( #90 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 11:47:38 +02:00
c50a13ab31
draft
2024-04-17 10:50:54 +01:00
03b08eb74e
backup wip
2024-04-16 12:51:32 +01:00
5608e659e6
backup wip
2024-04-15 19:06:44 +01:00
Remi
Simon Alibert
Alexander Soare
Jack Vial
Zhuoheng Li
Remi
Seungjae Lee
Marina Barannikov
Radek Osmulski
Akshay Kashyap