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157 Commits

Author SHA1 Message Date
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
Seungjae Lee
7d1542cae1 Add VQ-BeT (#166) 2024-06-26 08:55:02 +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
Jihoon Oh
b72d574891 fix Unet global_cond_dim to use state dim, not action dim (#278) 2024-06-17 15:17:28 +01:00
Alexander Soare
15dd682714 Add multi-image support to diffusion policy (#218) 2024-06-17 08:11:20 +01:00
Wael Karkoub
54c9776bde Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
Ruijie
b0d954c6e1 Fix bug in normalize to avoid divide by zero (#239) 
Co-authored-by: rj <rj@teleopstrio-razer.lan>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-04 12:21:28 +02:00
Alexander Soare
cf15cba5fc Remove redundant slicing operation in Diffusion Policy (#240) 2024-06-03 13:04:24 +01:00
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
Alexander Soare
57fb5fe8a6 Improve documentation on VAE encoder inputs (#215) 2024-05-30 19:16:44 +02:00
Alexander Soare
3d625ae6d3 Handle crop_shape=None in Diffusion Policy (#219) 2024-05-28 18:27:33 +01:00
Radek Osmulski
3b86050ab0 throw an error if config.do_maks_loss and action_is_pad not provided in batch (#213) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-27 09:06:26 +01:00
Alexander Soare
5ec0af62c6 Explain why n_encoder_layers=1 (#193) 2024-05-17 15:05:40 +01:00
Alexander Soare
625f0557ef Act temporal ensembling (#186) 2024-05-17 14:57:49 +01:00
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
68c1b13406 Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert
f52f4f2cd2 Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Alexander Soare
1249aee3ac Enable logging all the information returned by the forward methods of policies (#151) 2024-05-10 07:45:32 +01:00
Ikko Eltociear Ashimine
0ea7a8b2a3 refactor: update configuration_tdmpc.py (#153) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-08 18:13:51 +01:00
Akshay Kashyap
460df2ccea Support for DDIMScheduler in Diffusion Policy (#146) 2024-05-08 18:05:16 +01:00
Alexander Soare
f5de57b385 Fix SpatialSoftmax input shape (#150) 2024-05-08 14:57:29 +01:00
Alexander Soare
47de07658c Override pretrained model config (#147) 2024-05-08 12:56:21 +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
Simon Alibert
c015252e20 Remove batch length restrictions in select_action (#123) 2024-05-04 15:33:55 +02:00
Alexander Soare
c1668924ab Fix missing policy.to(device) in policy factory (#126) 2024-05-01 17:26:58 +01:00
Alexander Soare
d1855a202a Refactor TD-MPC (#103) 
Co-authored-by: Cadene <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-01 16:40:04 +01:00