d75b44f89f
Stable version of rlpd + drq
2025-02-03 15:07:57 +00:00
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
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
f52f4f2cd2
Add copyrights ( #157 )
2024-05-15 12:13:09 +02:00
bccee745c3
Refactor eval.py ( #127 )
2024-05-03 17:33:16 +01:00
1030ea0070
Loads episode_data_index and stats during dataset __init__ ( #85 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-23 14:13:25 +02:00
d9019d9e7e
disable env_checker in factory
2024-04-09 10:24:28 +02:00
1149894e1d
rename handle -> task
2024-04-08 14:54:52 +00:00
3f6dfa4916
Add gym-aloha, rename simxarm -> xarm, refactor
2024-04-08 16:24:11 +02:00
29032fbcd3
wrap dm_control aloha into gymnasium (TODO: properly seeding the env)
2024-04-05 17:17:14 +00:00
26602269cd
test_envs.py are passing, remove simxarm and pusht directories
2024-04-05 16:21:07 +00:00
ab3cd3a7ba
(WIP) Add gym-xarm
2024-04-05 15:35:20 +02:00
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
1c24bbda3f
WIP Upgrading simxam from mujoco-py to mujoco python bindings
2024-03-25 12:28:07 +01:00
acf1174447
ready for review
2024-03-21 10:18:50 +00:00
c5010fee9a
fix seeding
2024-03-20 08:21:33 +00:00
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
9d002032d1
Add Aloha env and ACT policy
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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
fab2b3240b
Merge pull request #17 from Cadene/user/rcadene/2024_03_11_bugfix_compute_stats
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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
f54ee7cda0
Fix paths
2024-03-10 16:51:50 +01:00
6c867d78ef
Integrate pusht env from diffusion
2024-03-10 16:33:03 +01:00
524d29aa80
fix tests
2024-03-07 13:23:22 +01:00
cfc304e870
Refactor env queue, Training diffusion works (Still not converging)
2024-03-04 11:00:51 +00:00
cbbed590a9
Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)
2024-03-03 13:19:02 +00:00
1ae6205269
Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion)
2024-03-02 15:53:29 +00:00
b16c334825
Refactor configs to have env in seperate yaml + Fix training
2024-02-25 17:42:47 +00:00
ed80db2846
Sanitize cfg.env
2024-02-25 12:02:29 +00:00
63d18475cc
fix simxarm factory
2024-02-22 13:04:24 +00:00
e3643d6146
Wandb works, One output dir
2024-02-22 12:14:12 +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
228c045674
Eval reproduced! Train running (but not reproduced)
2024-02-10 15:46:24 +00:00
5a5b190f70
Add common, refactor eval with eval_policy
2024-01-31 13:48:12 +00:00
AdilZouitine
Remi
Simon Alibert
Alexander Soare
Simon Alibert