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
7982425670
Remove diffusion-policy dependency
2024-03-10 16:36:30 +01:00
Simon Alibert
450e32e4b5
update readme
2024-03-09 15:57:29 +01:00
Simon Alibert
327f60e4be
Update readme
2024-03-09 15:36:20 +01:00
Cadene
ae050d2e94
Solve conflicts + pre-commit run -a
2024-02-29 23:31:32 +00:00
Simon Alibert
0e0e760e43
Added pre-commit
2024-02-29 12:27:30 +01:00
Simon Alibert
d5bfeadcf1
Added poetry setup
2024-02-28 19:12:56 +01:00
Simon Alibert
98f8869743
WIP
2024-02-28 10:59:06 +01:00
Cadene
7df542445c
Small fix and improve logging message
2024-02-27 11:44:26 +00:00
Cadene
5812298290
fix style readme
2024-02-25 11:09:47 +00:00
Cadene
fc4b98544b
Add tests to Readme
2024-02-25 10:52:31 +00:00
Cadene
598bb496b0
Add policies/factory, Add test, Add _self_ in config
2024-02-25 10:50:23 +00:00
Cadene
aed02dc7c6
Add multithreading for video generation, Speed policy sampling
2024-02-24 18:18:39 +00:00
Cadene
e3643d6146
Wandb works, One output dir
2024-02-22 12:14:12 +00:00
Cadene
0b4084f0f8
Clean + alpha beta corresponds to config (before 0.7 and 0.9)
2024-02-16 16:27:54 +00:00
Cadene
0cdd23dcac
Update README
2024-02-16 15:14:59 +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
Cadene
007ffa898f
first commit
2024-01-26 15:51:11 +00:00
