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160 Commits

Author SHA1 Message Date
Marina Barannikov e28fa2344c
added visualization for min and max transforms (#271) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-06-17 09:09:57 +02:00
Thomas Wolf 125bd93e29
Improve `push_dataset_to_hub` API + Add unit tests (#231) 
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-06-13 15:18:02 +02:00
Marina Barannikov ff8f6aa6cd
Add data augmentation in LeRobotDataset (#234) 
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
Wael Karkoub 54c9776bde
Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
Thomas Lips 055a6f60c6
add root argument to the dataset visualizer to visualize local datasets (#249) 2024-06-10 10:44:32 +02:00
Simon Alibert e54d6ea1eb
Make `display_sys_info.py` install-agnostic (#253) 2024-06-07 15:02:17 +02:00
Alexander Soare 1eb4bfe2e4
Fix videos_dir documentation (#247) 2024-06-05 08:25:20 +01:00
Alexander Soare 21f222fa1d
Add out_dir option to eval (#244) 2024-06-04 21:01:53 +02:00
amandip7 33362dbd17
Adding parameter dataloading_s to console logs and wandb for tracking… (#243) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-04 17:02:05 +01:00
Simon Alibert bd3111f28b
Fix `visualize_dataset.py --help` (#241) 2024-06-03 16:35:16 +02:00
Radek Osmulski 504d2aaf48
add EpisodeAwareSampler (#217) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 13:43:47 +01:00
Alexander Soare 111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s (#229) 2024-05-30 16:12:21 +01:00
Remi 265b0ec44d
Refactor env to add key word arguments from config yaml (#223) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-30 13:45:22 +02:00
Remi 2c2e4e14ed
Add `aloha_dora_format.py` (#201) 
Co-authored-by: Thomas Wolf <thomwolf@users.noreply.github.com>
 2024-05-30 11:26:39 +02:00
Alexander Soare e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Alexander Soare b6c216b590
Add Automatic Mixed Precision option for training and evaluation. (#199) 2024-05-20 18:57:54 +01:00
Alexander Soare 2b270d085b
Disable online training (#202) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-20 18:27:54 +01:00
Remi 01eae09ba6
Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Alexander Soare 68c1b13406
Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert f52f4f2cd2
Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Remi ced3de4c94
Fix hanging in visualize_dataset.py when num_workers > 0 (#165) 2024-05-11 19:28:22 +03:00
Alexander Soare 1249aee3ac
Enable logging all the information returned by the `forward` methods of policies (#151) 2024-05-10 07:45:32 +01:00
Simon Alibert f5e76393eb
Release cleanup (#132) 
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
Alexander Soare 6e6feae09e
Remove additional frame from eval render (#137) 2024-05-05 13:49:53 +02:00
Alexander Soare f6fe162432
Rename Diffusion Policy model repository (#136) 2024-05-05 12:06:58 +01:00
Alexander Soare f3bba0270d
Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Alexander Soare d747195c57
Fix loops in eval.py (#128) 2024-05-04 15:21:10 +01:00
Simon Alibert c77633c38c
Add regression tests (#119) 
- 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
Remi 19812ca470
Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Alexander Soare bccee745c3
Refactor eval.py (#127) 2024-05-03 17:33:16 +01:00
Remi b2cda12f87
Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
Alexander Soare d1855a202a
Refactor TD-MPC (#103) 
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
Alexander Soare a4891095e4
Use PytorchModelHubMixin to save models as safetensors (#125) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-01 16:17:18 +01:00
Alexander Soare 9d60dce6f3
Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Remi e4e739f4f8
Refactor push_dataset_to_hub (#118) 2024-04-30 14:25:41 +02:00
Simon Alibert 2765877f28
Speed up CI, add more checks (#115) 
- Split pytest and end-to-end tests into separate jobs
- Add poetry check to ensure pyproject.toml and poetry.lock are in sync
- Add ruff format --diff to ensure style formatting is applied (fails if ruff would reformat anything)
 2024-04-29 23:05:55 +02:00
Quentin Gallouédec 508bd92d03
Remove `update` method from the policy (#99) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-29 12:27:58 +02:00
Simon Alibert 791506dfb8
Remove warnings (#111) 
- 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
Adil Zouitine 55dc9f7f51
Refactor the download and publication of the datasets and convert it into CLI script (#95) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-29 00:08:17 +02:00
Alexander Soare 45f351c618
Make sure targets are normalized too (#106) 2024-04-26 11:18:39 +01:00
Remi e760e4cd63
Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +02:00
Remi c1bcf857c5
Fix online training (#94) 2024-04-23 18:54:55 +02:00
Remi 1030ea0070
Loads episode_data_index and stats during dataset __init__ (#85) 
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
Alexander Soare e2168163cd
Quality of life patches for eval.py (#86) 2024-04-19 12:33:47 +01:00
Simon Alibert 7ad1909641
Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +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 b241ea46dd move download_and_upload_dataset.py to root_dir 2024-04-16 17:20:53 +00:00