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95 Commits

Author SHA1 Message Date
Simon Alibert d407ce21aa Include tests in pre-commit formatting 2024-04-18 12:58:22 +02:00
Simon Alibert 37efcea3eb Add require_env wrapper 2024-04-18 12:54:15 +02:00
Simon Alibert 73083269cb Move utils 2024-04-18 12:54:15 +02:00
Simon Alibert a870907266 Auto set device 2024-04-18 12:54:15 +02:00
Simon Alibert 75d34548a5 Couple tests with __init__ variables 2024-04-18 12:54:15 +02:00
Simon Alibert 6dbbe87c2c Centralize availables 2024-04-18 12:54:15 +02:00
Remi 0928afd37d
Improve dataset examples (#82) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-18 11:43:16 +02:00
Alexander Soare bff4b673c9 Merge remote-tracking branch 'upstream/main' into unify_policy_api 2024-04-17 08:08:57 +01:00
Cadene 91badebdfc fix tests 2024-04-16 17:29:31 +00:00
Cadene 36d9e885ef Address comments 2024-04-16 17:20:54 +00:00
Cadene 4a3eac4743 fix unit tests, stats was missing, visualize_dataset was broken 2024-04-16 17:20:53 +00:00
Cadene 0980fff6cc HF datasets works 2024-04-16 17:19:40 +00:00
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
Alexander Soare 0eb899de73 Merge remote-tracking branch 'upstream/main' into unify_policy_api 2024-04-16 17:30:41 +01:00
Alexander Soare a9496fde39 revision 1 2024-04-16 17:15:51 +01:00
Alexander Soare 8a322da422 backup wip 2024-04-16 16:35:04 +01:00
Alexander Soare 23be5e1e7b backup wip 2024-04-16 16:31:44 +01:00
Alexander Soare 43a614c173 Fix test_examples 2024-04-16 14:07:16 +01:00
Alexander Soare 9c2f10bd04 ready for review 2024-04-16 13:43:58 +01:00
Alexander Soare 03b08eb74e backup wip 2024-04-16 12:51:32 +01:00
Alexander Soare 5608e659e6 backup wip 2024-04-15 19:06:44 +01:00
Alexander Soare 30023535f9 revision 1 2024-04-15 10:56:43 +01:00
Alexander Soare ef4bd9e25c Use dataclass config for ACT 2024-04-15 09:39:23 +01:00
Cadene c1a618e567 fix pusht images type from float32 to uint8, update gym-pusht dependencies 2024-04-11 14:29:16 +00:00
Cadene 4216636084 fix 2024-04-11 14:01:23 +00:00
Cadene 2f4af32d3f small fix 2024-04-11 13:21:06 +00:00
Cadene 36de77ac18 fix and clarify tests 2024-04-11 13:16:47 +00:00
Cadene 92701088a3 small fix 2024-04-11 13:04:27 +00:00
Cadene 657b27cc8f fix load_data_with_delta_timestamps and add tests 2024-04-11 13:00:09 +00:00
Cadene 9874652c2f enable test_compute_stats 
enable test_compute_stats
 2024-04-10 17:12:54 +00:00
Cadene ec4bf115d0 fix example_1 test 2024-04-10 13:55:59 +00:00
Cadene 6082a7bc73 Enable test_available.py 2024-04-10 13:06:48 +00:00
Simon Alibert 7f4ff0b170 CI fix attempt 2024-04-09 11:58:59 +02:00
Simon Alibert d21543eb4f Add env.close() 2024-04-09 10:41:20 +02:00
Cadene 6902e01db0 tests are passing for aloha/act policies, removes abstract policy 2024-04-09 03:28:56 +00:00
Cadene 73dfa3c8e3 tests for tdmpc and diffusion policy are passing 2024-04-09 02:50:32 +00:00
Cadene 1149894e1d rename handle -> task 2024-04-08 14:54:52 +00:00
Simon Alibert 3f6dfa4916 Add gym-aloha, rename simxarm -> xarm, refactor 2024-04-08 16:24:11 +02:00
Cadene 70aaf1c4cb test_datasets.py are passing! 2024-04-08 14:16:57 +00:00
Cadene 4371a5570d Remove latency, tdmpc policy passes tests (TODO: make it work with online RL) 2024-04-07 16:01:22 +00:00
Cadene 44656d2706 test_envs are passing 2024-04-05 23:27:12 +00:00
Cadene 29032fbcd3 wrap dm_control aloha into gymnasium (TODO: properly seeding the env) 2024-04-05 17:17:14 +00:00
Cadene 26602269cd test_envs.py are passing, remove simxarm and pusht directories 2024-04-05 16:21:07 +00:00
Simon Alibert ab3cd3a7ba (WIP) Add gym-xarm 2024-04-05 15:35:20 +02:00
Cadene 5af00d0c1e fix train.py, stats, eval.py (training is running) 2024-04-05 09:31:39 +00:00
Cadene c93ce35d8c WIP stats (TODO: run tests on stats + cmpute them) 2024-04-04 16:36:03 +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 a6ec4fbf58 remove try-catch 2024-04-03 09:53:15 +01:00
Alexander Soare e9eb262293 numerically sound mean computation 2024-04-03 09:44:20 +01:00
Alexander Soare 7242953197 revision 2024-04-02 19:19:13 +01:00