Cadene
706453ac17
WIP
2024-03-11 14:06:34 +00:00
Cadene
bdd2c801bc
PushtEnv inheriates AbstractEnv, Improve factory Normalization
2024-03-11 14:05:23 +00:00
Cadene
ebd5c786f1
fix import
2024-03-11 12:44:53 +00:00
Cadene
2a4bc7371e
fix training
2024-03-11 12:44:46 +00:00
Cadene
ac5571d609
fix more bugs in normalization
2024-03-11 11:03:13 +00:00
Cadene
570cb3af30
fix bug in compute_stats for action normalization
2024-03-11 09:37:56 +00:00
Remi Cadene
66323dcd0a
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)
2024-03-10 22:06:12 +00:00
Simon Alibert
134009f337
Remove init files
2024-03-10 16:38:49 +01:00
Simon Alibert
6c867d78ef
Integrate pusht env from diffusion
2024-03-10 16:33:03 +01:00
Simon Alibert
302b78962c
Integrate diffusion policy
2024-03-10 15:31:17 +01:00
Simon Alibert
89eaab140b
Add pusht test artifact
2024-03-09 15:36:20 +01:00
Simon Alibert
f1e2837d63
fix pusht data_dir path
2024-03-08 12:26:15 +01:00
Remi Cadene
d782b029e1
Add aloha dataset
2024-03-06 10:26:32 +00:00
Remi Cadene
eed24b083a
small fix
2024-03-06 10:21:22 +00:00
Remi Cadene
f95ecd66fc
Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements
2024-03-06 10:15:57 +00:00
Remi Cadene
2f80d71c3e
Remove noqa-F821
2024-03-05 10:22:21 +00:00
Remi Cadene
d4e0849970
Refactor datasets with abstract class
2024-03-05 10:20:57 +00:00
Remi Cadene
a027f4edfb
Add cfg.offline_prioritized_sampler
2024-03-04 23:08:52 +00:00
Remi Cadene
e29fbb50e8
Fix grad_clip_norm 0 -> 10, Fix normalization min_max to be per channel
2024-03-04 17:26:34 +00:00
Remi Cadene
cfc304e870
Refactor env queue, Training diffusion works (Still not converging)
2024-03-04 11:00:51 +00:00
Remi Cadene
cbbed590a9
Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)
2024-03-03 13:19:02 +00:00
Remi Cadene
45b4ecb727
pre-commit run -a
2024-03-02 15:58:21 +00:00
Remi Cadene
1ae6205269
Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion)
2024-03-02 15:53:29 +00:00
Remi Cadene
b5a2f460ea
fix bus error
2024-03-01 14:22:05 +00:00
Simon Alibert
c1942d45d3
Fixes for PR #4
2024-03-01 14:59:05 +01:00
Simon Alibert
b862145e22
Added pusht dataset auto-download
2024-03-01 14:31:54 +01:00
Cadene
ae050d2e94
Solve conflicts + pre-commit run -a
2024-02-29 23:31:32 +00:00
Cadene
0b9027f05e
Clean logging, Refactor
2024-02-29 23:21:27 +00:00
Simon Alibert
7e024fdce6
Ran pre-commit run --all-files
2024-02-29 13:37:48 +01:00
Cadene
ac90b9c3ee
Fix diffusion (rm transpose), Add prefetch
2024-02-28 17:45:01 +00:00
Simon Alibert
98f8869743
WIP
2024-02-28 10:59:06 +01:00
Cadene
21670dce90
Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)
2024-02-26 01:10:09 +00:00
Cadene
b16c334825
Refactor configs to have env in seperate yaml + Fix training
2024-02-25 17:42:47 +00:00
Cadene
591985c67d
Fix done in pusht, Fix --time in sbatch
2024-02-22 17:58:26 +00:00
Cadene
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
Cadene
3da6ffb2cb
Fix unit tests, Refactor, Add pusht env, (TODO pusht replay buffer, image preprocessing)
2024-02-20 12:26:57 +00:00
Cadene
228c045674
Eval reproduced! Train running (but not reproduced)
2024-02-10 15:46:24 +00:00
