tangger/lerobot
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9784d8a47fee84ddfc360ae859dbcf7592d50e8a
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48 Commits

Author SHA1 Message Date
Michel Aractingi
9784d8a47f Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment. 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:13 +02:00
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
Alexander Soare
92573486a8 Don't use async envs by default (#448) 2024-09-20 15:22:52 +02:00
Zhuoheng Li
a2592a5563 Provide more information to the user (#358) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-08-23 11:00:35 +01:00
Alexander Soare
f8a6574698 Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Simon Alibert
964f9e86d6 Cleanup config defaults (#300) 2024-07-04 11:53:29 +02:00
Alexander Soare
9aa4cdb976 Checkpoint on final step of training even when it doesn't coincide with save_freq. (#284) 2024-06-20 08:27:01 +01:00
Simon Alibert
2abef3bef9 Enable video_reader backend (#220) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 17:15:25 +02:00
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
Alexander Soare
111cd58f8a Add MultiLerobotDataset for training with multiple LeRobotDatasets (#229) 2024-05-30 16:12:21 +01:00
Remi
265b0ec44d Refactor env to add key word arguments from config yaml (#223) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-30 13:45:22 +02:00
Alexander Soare
e3b9f1c19b Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Alexander Soare
b6c216b590 Add Automatic Mixed Precision option for training and evaluation. (#199) 2024-05-20 18:57:54 +01:00
Alexander Soare
2b270d085b Disable online training (#202) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-20 18:27:54 +01:00
Alexander Soare
096149b118 Disable wandb by default (#195) 2024-05-17 18:01:39 +01:00
Simon Alibert
f5e76393eb Release cleanup (#132) 
Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
 2024-05-06 03:03:14 +02:00
Alexander Soare
bccee745c3 Refactor eval.py (#127) 2024-05-03 17:33:16 +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
Alexander Soare
9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Remi
659c69a1c0 Refactor datasets into LeRobotDataset (#91) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 12:23:12 +02:00
Alexander Soare
1a1308d62f fix environment seeding 
add fixes for reproducibility

only try to start env if it is closed

revision

fix normalization and data type

Improve README

Improve README

Tests are passing, Eval pretrained model works, Add gif

Update gif

Update gif

Update gif

Update gif

Update README

Update README

update minor

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Address suggestions

Update thumbnail + stats

Update thumbnail + stats

Update README.md

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Add more comments

Add test_examples.py
 2024-03-26 10:10:43 +00:00
Simon Alibert
98b9631aa6 Add n_obs_steps in default.yaml config 2024-03-26 10:08:00 +01:00
Alexander Soare
529f42643d revision 2024-03-22 12:33:25 +00:00
Alexander Soare
896a11f60e backup wip 2024-03-19 18:50:04 +00:00
Alexander Soare
ea17f4ce50 backup wip 2024-03-19 16:02:09 +00:00
Alexander Soare
bae7e7b41c Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env 2024-03-15 14:06:53 +00:00
Alexander Soare
4ecfd17f9e fix wandb artifact name and add disable option 2024-03-15 13:56:55 +00:00
Alexander Soare
ba91976944 wip: still needs batch logic for act and tdmp 2024-03-14 15:24:10 +00:00
Simon Alibert
6d6c84b4a3 Remove entity from config 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-03-11 14:14:17 +01:00
Simon Alibert
00fe4f4f18 Configure wandb entity outside config 2024-03-11 13:09:46 +01:00
Remi Cadene
e132a267aa offline_prioritized_sampler: true 2024-03-04 23:17:59 +00:00
Remi
e990f3e148 Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion 
Make diffusion work
 2024-03-04 18:30:40 +01:00
Remi Cadene
cfc304e870 Refactor env queue, Training diffusion works (Still not converging) 2024-03-04 11:00:51 +00:00
Simon Alibert
b33ec5a630 Add run on cpu-only compatibility 2024-03-03 12:47:26 +01:00
Cadene
ac90b9c3ee Fix diffusion (rm transpose), Add prefetch 2024-02-28 17:45:01 +00:00
Cadene
5a219fed6e Refactor policy config 2024-02-25 18:26:44 +00:00
Cadene
b16c334825 Refactor configs to have env in seperate yaml + Fix training 2024-02-25 17:42:47 +00:00
Cadene
ed80db2846 Sanitize cfg.env 2024-02-25 12:02:29 +00:00
Cadene
0eb9b5d1a5 Sanitize cfg.wandb 2024-02-25 11:15:09 +00:00
Cadene
e765e26b0b Sanitize cfg.policy, Fix skip_frame pusht.yaml 2024-02-25 11:09:02 +00:00
Cadene
598bb496b0 Add policies/factory, Add test, Add _self_ in config 2024-02-25 10:50:23 +00:00
Cadene
e3643d6146 Wandb works, One output dir 2024-02-22 12:14:12 +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
c202c2b3c2 Online finetuning runs (sometimes crash because of nans) 2024-02-16 15:13:24 +00:00
Cadene
228c045674 Eval reproduced! Train running (but not reproduced) 2024-02-10 15:46:24 +00:00
Cadene
1e52499490 eval.mp4 works! 2024-01-30 23:30:14 +00:00
Cadene
1144819c29 First real commit, simxarm env added with torchrl! 2024-01-29 12:49:30 +00:00