115927d0f6
make sure to pass stats.pth arg
2024-03-22 12:58:59 +00:00
529f42643d
revision
2024-03-22 12:33:25 +00:00
8720c568d0
Add ability to eval hub model
2024-03-22 10:26:55 +00:00
41912b962b
remove TODO
2024-03-21 13:51:26 +00:00
72d3c3120b
Merge remote-tracking branch 'upstream/main' into fix_pusht_diffusion
2024-03-21 10:20:52 +00:00
acf1174447
ready for review
2024-03-21 10:18:50 +00:00
4631d36c05
Add get_safe_torch_device in policies
2024-03-20 18:38:55 +01:00
d323993569
backup wip
2024-03-20 15:01:27 +00:00
4b7ec81dde
remove abstracmethods, fix online training
2024-03-20 14:49:41 +00:00
5332766a82
revision
2024-03-20 09:45:45 +00:00
b1ec3da035
remove internal rendering hooks
2024-03-20 09:23:23 +00:00
52e149fbfd
Only save video frames in first rollout
2024-03-20 08:32:11 +00:00
4f1955edfd
Clear action queue when environment is reset
2024-03-20 08:31:06 +00:00
b54cdc9a0f
break_when_any_done==True for batch_size==1
2024-03-19 19:08:25 +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
09ddd9bf92
Merge branch 'main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-18 18:27:50 +00:00
8e346b379d
switch between train and eval
2024-03-18 09:45:17 +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
...
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
816b2e9d63
fix more bugs in normalization
2024-03-11 11:03:51 +00:00
f95ecd66fc
Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements
2024-03-06 10:15:57 +00:00
2bcf2631b9
minor comment
2024-03-04 22:34:44 +00:00
e990f3e148
Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion
...
Make diffusion work
2024-03-04 18:30:40 +01:00
cfc304e870
Refactor env queue, Training diffusion works (Still not converging)
2024-03-04 11:00:51 +00:00
4c400b41a5
Improve log msg in train.py
2024-03-03 13:22:09 +00:00
cbbed590a9
Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)
2024-03-03 13:19:02 +00:00
b859e89936
Fix for PR #5
2024-03-03 13:05:21 +01:00
b33ec5a630
Add run on cpu-only compatibility
2024-03-03 12:47:26 +01:00
80785f8d0e
Small fix, Refactor diffusion, Diffusion runs (TODO: remove normalization in diffusion)
2024-03-02 17:04:39 +00:00
45b4ecb727
pre-commit run -a
2024-03-02 15:58:21 +00:00
1ae6205269
Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion)
2024-03-02 15:53:29 +00:00
ae050d2e94
Solve conflicts + pre-commit run -a
2024-02-29 23:31:32 +00:00
0b9027f05e
Clean logging, Refactor
2024-02-29 23:21:27 +00:00
7e024fdce6
Ran pre-commit run --all-files
2024-02-29 13:37:48 +01:00
5798979e9c
comment
2024-02-28 18:31:54 +00:00
cf5063e50e
Add diffusion policy (train and eval works, TODO: reproduce results)
2024-02-28 15:21:42 +00:00
f1708c8a37
install fix
2024-02-28 12:35:49 +01:00
e543c9a42c
small fix %
2024-02-27 11:54:31 +00:00
7df542445c
Small fix and improve logging message
2024-02-27 11:44:26 +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
ed80db2846
Sanitize cfg.env
2024-02-25 12:02:29 +00:00
598bb496b0
Add policies/factory, Add test, Add _self_ in config
2024-02-25 10:50:23 +00:00
64b5920e94
format
2024-02-24 18:19:18 +00:00
aed02dc7c6
Add multithreading for video generation, Speed policy sampling
2024-02-24 18:18:39 +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
ece89730e6
Add pusht dataset (TODO verify reward is aligned), Refactor visualize_dataset, Add video_dir, fps, state_dim, action_dim to config (Training works)
2024-02-21 00:49:40 +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
a5c305a7a4
offline training + online finetuning converge to 33 reward!
2024-02-18 01:23:44 +00:00
0b4084f0f8
Clean + alpha beta corresponds to config (before 0.7 and 0.9)
2024-02-16 16:27:54 +00:00
c202c2b3c2
Online finetuning runs (sometimes crash because of nans)
2024-02-16 15:13:24 +00:00
228c045674
Eval reproduced! Train running (but not reproduced)
2024-02-10 15:46:24 +00:00
937b2f8cba
Add option for random policy
2024-01-31 13:54:32 +00:00
5a5b190f70
Add common, refactor eval with eval_policy
2024-01-31 13:48:12 +00:00
1e52499490
eval.mp4 works!
2024-01-30 23:30:14 +00:00
1144819c29
First real commit, simxarm env added with torchrl!
2024-01-29 12:49:30 +00:00
Alexander Soare
Simon Alibert
Remi Cadene