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
01eae09ba6
Fix aloha real-world datasets ( #175 )
2024-05-20 13:48:09 +02:00
68c1b13406
Make policies compatible with other/multiple image keys ( #149 )
2024-05-16 13:51:53 +01:00
f52f4f2cd2
Add copyrights ( #157 )
2024-05-15 12:13:09 +02:00
e89521dfa0
Enable tests for TD-MPC ( #160 )
2024-05-09 13:42:12 +01:00
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
01d5490d44
Follow `transformers` single file naming conventions ( #124 )
2024-05-01 13:09:42 +01:00
9d60dce6f3
Tidy up yaml configs ( #121 )
2024-04-30 16:08:59 +01:00
508bd92d03
Remove `update` method from the policy ( #99 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-29 12:27:58 +02:00
ccffa9e406
Fix policy defaults ( #113 )
2024-04-29 08:26:59 +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
7ad1909641
Tests cleaning & simplification ( #81 )
2024-04-18 14:47:42 +02:00
8a322da422
backup wip
2024-04-16 16:35:04 +01:00
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
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
3f6dfa4916
Add gym-aloha, rename simxarm -> xarm, refactor
2024-04-08 16:24:11 +02:00
70aaf1c4cb
test_datasets.py are passing!
2024-04-08 14:16:57 +00:00
4371a5570d
Remove latency, tdmpc policy passes tests (TODO: make it work with online RL)
2024-04-07 16:01:22 +00:00
1cdfbc8b52
WIP
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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
b7c9c33072
revision
2024-03-27 18:33:48 +00:00
1a1308d62f
fix environment seeding
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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
058ac991eb
Add simxarm back into tests
2024-03-25 16:35:46 +01:00
40f3783fca
v1.2
2024-03-23 11:41:56 +00:00
b54cdc9a0f
break_when_any_done==True for batch_size==1
2024-03-19 19:08:25 +00:00
46ac87d2a6
ready for review
2024-03-19 18:59:08 +00:00
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
88347965c2
revert dp changes, make act and tdmpc batch friendly
2024-03-18 19:18:21 +00:00
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
5881eec376
Add DEVICE constant from LEROBOT_TESTS_DEVICE
2024-03-12 14:14:39 +00:00
21670dce90
Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)
2024-02-26 01:10:09 +00:00
b16c334825
Refactor configs to have env in seperate yaml + Fix training
2024-02-25 17:42:47 +00:00
6f5c731936
Rename test -> tests
2024-02-25 10:51:07 +00:00
Remi
Alexander Soare
Simon Alibert
Quentin Gallouédec
Simon Alibert