e982c732f1
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-08 09:25:45 +01:00
8d2463f45b
backup wip
2024-04-05 18:46:30 +01:00
1e71196fe3
backup wip
2024-04-05 17:38:29 +01:00
4863e54ce9
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 12:00:31 +01:00
ad3379a73a
fix memory leak due to itertools.cycle
2024-04-05 10:59:32 +00:00
9d77f5773d
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 11:41:11 +01:00
5af00d0c1e
fix train.py, stats, eval.py (training is running)
2024-04-05 09:31:39 +00:00
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
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
c5635b7d94
Minor fixes for #47
2024-03-25 18:50:47 +01:00
7cdd6d2450
Renamed set_seed -> set_global_seed
2024-03-25 17:19:28 +01:00
be6364f109
fix, it's training now!
2024-03-25 12:28:07 +01:00
bd40ffc53c
revision
2024-03-22 15:43:45 +00:00
15ff3b3af8
add fixes for reproducibility
2024-03-22 15:06:57 +00:00
72d3c3120b
Merge remote-tracking branch 'upstream/main' into fix_pusht_diffusion
2024-03-21 10:20:52 +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
ea17f4ce50
backup wip
2024-03-19 16:02:09 +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
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
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
cf5063e50e
Add diffusion policy (train and eval works, TODO: reproduce results)
2024-02-28 15:21:42 +00:00
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
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
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
5a5b190f70
Add common, refactor eval with eval_policy
2024-01-31 13:48:12 +00:00
1144819c29
First real commit, simxarm env added with torchrl!
2024-01-29 12:49:30 +00:00
Alexander Soare
Cadene
Simon Alibert