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67b64e445b41537d77a256e1af806dda6503924d
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185 Commits

Author SHA1 Message Date
Adil Zouitine
67b64e445b SAC works 2025-03-28 17:18:24 +00:00
Adil Zouitine
6c8023e702 remove breakpoint 2025-03-28 17:18:24 +00:00
Adil Zouitine
b495b19a6a [WIP] correct sac implementation 2025-03-28 17:18:24 +00:00
Michel Aractingi
6139df553d Extend reward classifier for multiple camera views (#626) 2025-03-28 17:18:24 +00:00
Eugene Mironov
b68730474a [Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-03-28 17:18:24 +00:00
Michel Aractingi
764925e4a2 added temporary fix for missing task_index key in online environment 2025-03-28 17:18:24 +00:00
Michel Aractingi
7bb142b707 split encoder for critic and actor 2025-03-28 17:18:24 +00:00
Michel Aractingi
2c2ed084cc style fixes 2025-03-28 17:18:24 +00:00
KeWang1017
91fefdecfa Refactor SAC configuration and policy for improved action sampling and stability 
- Updated SACConfig to replace standard deviation parameterization with log_std_min and log_std_max for better control over action distributions.
- Modified SACPolicy to streamline action selection and log probability calculations, enhancing stochastic behavior.
- Removed deprecated TanhMultivariateNormalDiag class to simplify the codebase and improve maintainability.

These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
 2025-03-28 17:18:24 +00:00
KeWang1017
70e3b9248c Refine SAC configuration and policy for enhanced performance 
- Updated standard deviation parameterization in SACConfig to 'softplus' with defined min and max values for improved stability.
- Modified action sampling in SACPolicy to use reparameterized sampling, ensuring better gradient flow and log probability calculations.
- Cleaned up log probability calculations in TanhMultivariateNormalDiag for clarity and efficiency.
- Increased evaluation frequency in YAML configuration to 50000 for more efficient training cycles.

These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
 2025-03-28 17:18:24 +00:00
KeWang1017
0ecf40d396 Refactor SACPolicy for improved action sampling and standard deviation handling 
- Updated action selection to use distribution sampling and log probabilities for better stochastic behavior.
- Enhanced standard deviation clamping to prevent extreme values, ensuring stability in policy outputs.
- Cleaned up code by removing unnecessary comments and improving readability.

These changes aim to refine the SAC implementation, enhancing its robustness and performance during training and inference.
 2025-03-28 17:18:24 +00:00
KeWang1017
a113daa81e trying to get sac running 2025-03-28 17:18:24 +00:00
Michel Aractingi
80b86e9bc3 Added normalization schemes and style checks 2025-03-28 17:18:24 +00:00
Michel Aractingi
9dafad15e6 added optimizer and sac to factory.py 2025-03-28 17:18:24 +00:00
Eugene Mironov
d96edbf5ac [HIL-SERL PORT] Fix linter issues (#588) 2025-03-28 17:18:24 +00:00
Eugene Mironov
6340d9d17c [Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) 2025-03-28 17:18:24 +00:00
Michel Aractingi
66268fcf85 added comments from kewang 2025-03-28 17:18:24 +00:00
KeWang1017
a5228a0dfe Enhance SAC configuration and policy with new parameters and subsampling logic 
- Added `num_subsample_critics`, `critic_target_update_weight`, and `utd_ratio` to SACConfig.
- Implemented target entropy calculation in SACPolicy if not provided.
- Introduced subsampling of critics to prevent overfitting during updates.
- Updated temperature loss calculation to use the new target entropy.
- Added comments for future UTD update implementation.

These changes improve the flexibility and performance of the SAC implementation.
 2025-03-28 17:18:24 +00:00
KeWang
dbadaae28b Port SAC WIP (#581) 
Co-authored-by: KeWang1017 <ke.wang@helloleap.ai>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
44536d1f0c completed losses 2025-03-28 17:18:24 +00:00
Michel Aractingi
69b6de46d7 nit in control_robot.py 2025-03-28 17:18:24 +00:00
Yoel
58cc445921 Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-03-28 17:18:24 +00:00
Steven Palma
78fd1a1e04 chore(docs): update docs (#911) 2025-03-27 09:55:06 +01:00
Qizhi Chen
a774af2eab fix pi0 action padding name (#893) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-25 11:24:46 +01:00
Pepijn
e8159997c7 User/pepijn/2025 03 17 act different image shapes (#870) 2025-03-18 11:09:05 +01:00
Steven Palma
5e9473806c refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Steven Palma
5d24ce3160 chore(doc): add license header to all files (#818) 2025-03-05 17:56:51 +01:00
Yachen Kang
b80e55ca44 change "actions_id_pad" to "actions_is_pad"(🐛 Bug) (#774) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-05 01:31:56 +01:00
Simon Alibert
a1809ad3de Add typos checks (#770) 2025-02-25 23:51:15 +01:00
Simon Alibert
3354d919fc LeRobotDataset v2.1 (#711) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2025-02-25 15:27:29 +01:00
Simon Alibert
c4c2ce04e7 Update pre-commits (#733) 2025-02-15 15:51:17 +01:00
Simon Alibert
e71095960f Fixes following #670 (#719) 2025-02-12 12:53:55 +01:00
Simon Alibert
90e099b39f Remove offline training, refactor train.py and logging/checkpointing (#670) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-02-11 10:36:06 +01:00
Remi
638d411cd3 Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
Simon Alibert
3c0a209f9f Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +01:00
Hirokazu Ishida
538455a965 feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-10-30 11:00:05 +01:00
Alexander Soare
a60d27b132 Raise ValueError if horizon is incompatible with downsampling (#422) 2024-09-09 17:22:46 +01:00
Joe Clinton
f17d9a2ba1 Bug: Fix VQ-Bet not working when n_action_pred_token=1 (#420) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-09-09 09:41:13 +01:00
Jack Vial
b2896d38f5 fix(act): n_vae_encoder_layers config parameter wasn't being used (#400) 2024-09-02 18:29:27 +01:00
NielsRogge
86bbd16d43 Improve discoverability on the hub (#325) 
Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-08-19 15:16:46 +02:00
Alexander Soare
0f6e0f6d74 Fix input dim (#365) 2024-08-19 11:42:32 +01:00
Halvard Bariller
7a3cb1ad34 Adjust the timestamps' description in Diffusion Policy (#343) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-26 12:47:03 +01:00
Alexander Soare
f8a6574698 Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Alexander Soare
abbb1d2367 Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +01:00
Alexander Soare
c0101f0948 Fix ACT temporal ensembling (#319) 2024-07-16 10:27:21 +01:00
Alexander Soare
471eab3d7e Make ACT compatible with "observation.environment_state" (#314) 2024-07-11 13:12:22 +01:00
Seungjae Lee
64425d5e00 Bug fix: fix error when setting select_target_actions_indices in vqbet (#310) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-10 17:56:11 +01:00
Alexander Soare
cc2f6e7404 Train diffusion pusht_keypoints (#307) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 12:35:50 +01:00
Simon Alibert
74362ac453 Add VQ-BeT copyrights (#299) 2024-07-04 13:02:31 +02:00
Alexander Soare
342f429f1c Add test to make sure policy dataclass configs match yaml configs (#292) 2024-06-26 09:09:40 +01:00