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41 Commits

Author SHA1 Message Date
Alexander Soare
f8a6574698 Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Simon Alibert
0b21210d72 Convert datasets to av1 encoding (#302) 2024-07-22 20:08:59 +02:00
Alexander Soare
471eab3d7e Make ACT compatible with "observation.environment_state" (#314) 2024-07-11 13:12:22 +01:00
Alexander Soare
a4d77b99f0 Include observation.environment_state with keypoints in PushT dataset (#303) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 08:27:40 +01:00
Thomas Wolf
48951662f2 Bug fix: missing attention mask in VAE encoder in ACT policy (#279) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 12:07:21 +01:00
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
Remi
d585c73f9f Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Remi
01eae09ba6 Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Alexander Soare
4d7d41cdee Fix act action queue (#185) 2024-05-16 15:43:25 +01:00
Akshay Kashyap
c9069df9f1 Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Alexander Soare
1249aee3ac Enable logging all the information returned by the forward methods of policies (#151) 2024-05-10 07:45:32 +01:00
Alexander Soare
473345fdf6 Fix stats override in ACT config (#161) 2024-05-09 15:16:47 +01:00
Alexander Soare
e89521dfa0 Enable tests for TD-MPC (#160) 2024-05-09 13:42:12 +01:00
Alexander Soare
a8e245fb31 Remove loss masking from diffusion policy (#135) 2024-05-06 07:27:01 +01:00
Alexander Soare
f3bba0270d Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +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
b2cda12f87 Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
Remi
e4e739f4f8 Refactor push_dataset_to_hub (#118) 2024-04-30 14:25:41 +02:00
Adil Zouitine
81e490d46f Add UMI-gripper dataset (#83) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-28 18:41:07 +02:00
Remi
659c69a1c0 Refactor datasets into LeRobotDataset (#91) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 12:23:12 +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
Cadene
36d9e885ef Address comments 2024-04-16 17:20:54 +00:00
Cadene
4a3eac4743 fix unit tests, stats was missing, visualize_dataset was broken 2024-04-16 17:20:53 +00:00
Cadene
0980fff6cc HF datasets works 2024-04-16 17:19:40 +00:00
Cadene
c1a618e567 fix pusht images type from float32 to uint8, update gym-pusht dependencies 2024-04-11 14:29:16 +00:00
Cadene
70aaf1c4cb test_datasets.py are passing! 2024-04-08 14:16:57 +00:00
Simon Alibert
058ac991eb Add simxarm back into tests 2024-03-25 16:35:46 +01:00
Cadene
40f3783fca v1.2 2024-03-23 11:41:56 +00:00
Cadene
f23a53c3e4 update stats.pth 2024-03-20 17:36:13 +00:00
Alexander Soare
d16f6a93b3 Merge remote-tracking branch 'upstream/main' into user/alexander-soare/multistep_policy_and_serial_env 2024-03-20 09:01:45 +00:00
Alexander Soare
896a11f60e backup wip 2024-03-19 18:50:04 +00:00
Cadene
10034e85c4 Aloha done 2024-03-19 16:03:42 +00:00
Alexander Soare
ea17f4ce50 backup wip 2024-03-19 16:02:09 +00:00
Cadene
6a1a29386a Add replay_buffer directory in pusht datasets + aloha (WIP) 2024-03-19 15:49:45 +00:00
Remi Cadene
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
Simon Alibert
f2c7ab5b3b test ci 2024-03-09 15:41:23 +01:00
Cadene
cde866dac0 reupload 2024-03-09 15:36:20 +01:00
Cadene
a54a0feb63 remove mock 2024-03-09 15:36:20 +01:00
Cadene
35bd577deb Add mock_dataset.py 2024-03-09 15:36:20 +01:00
Simon Alibert
74ad9d5154 Change pusht artifacts path 2024-03-09 15:36:20 +01:00
Simon Alibert
89eaab140b Add pusht test artifact 2024-03-09 15:36:20 +01:00