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c45dd8f84834588734ab1e0dc976a576d31f7eae
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129 Commits

Author SHA1 Message Date
Simon Alibert
c45dd8f848 rename to image_transforms 2024-06-06 16:50:22 +00:00
Marina Barannikov
bdc0ebd36a Updated default transform parameters 2024-06-06 13:50:48 +00:00
Marina Barannikov
19f4a6568d Updated default image_transform parameters 2024-06-06 13:37:58 +00:00
Marina Barannikov
9552a4f010 Added clarification comments 2024-06-06 09:24:58 +00:00
Simon Alibert
b1714803a3 Disable image_transform by default 2024-06-06 08:39:52 +00:00
Simon Alibert
6509c3f6d4 Implement RandomSubsetApply features 2024-06-05 12:15:36 +00:00
Simon Alibert
fdf56e7a62 Redesign config 2024-06-05 09:49:31 +00:00
Marina Barannikov
22bd1f0669 Updated formatting 2024-06-04 12:06:36 +00:00
Marina Barannikov
5eea2542d9 Added visualisations for image augmentation 2024-06-04 11:57:45 +00:00
Marina Barannikov
42f9cc9c2a Updated transforms arguments 2024-06-04 11:14:54 +00:00
Marina Barannikov
66629a956d Updated config to match transforms 2024-06-04 11:09:23 +00:00
Marina Barannikov
14291171cc Updated default.yaml 2024-06-03 17:21:16 +00:00
Marina Barannikov
cc4b3bd8e7 Updated default.yaml 2024-06-03 17:18:33 +00:00
Marina Barannikov
9f8415fa83 Added clarification comments 2024-06-03 14:18:08 +00:00
Marina Barannikov
20a3715469 Merge remote-tracking branch 'origin/main' into 2024_05_30_add_data_augmentation 2024-05-31 14:50:31 +00:00
marina.barannikov@huggingface.co
65e46a49e1 Implemented data augmentation with LeRobot class 2024-05-31 14:16:38 +00:00
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
Radek Osmulski
504d2aaf48 add EpisodeAwareSampler (#217) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 13:43:47 +01:00
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
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
473345fdf6 Fix stats override in ACT config (#161) 2024-05-09 15:16:47 +01:00
Alexander Soare
e89521dfa0 Enable tests for TD-MPC (#160) 2024-05-09 13:42:12 +01:00
Akshay Kashyap
460df2ccea Support for DDIMScheduler in Diffusion Policy (#146) 2024-05-08 18:05:16 +01:00
Alexander Soare
a8e245fb31 Remove loss masking from diffusion policy (#135) 2024-05-06 07:27:01 +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
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
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
a4891095e4 Use PytorchModelHubMixin to save models as safetensors (#125) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-01 16:17:18 +01:00
Alexander Soare
9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Simon Alibert
791506dfb8 Remove warnings (#111) 
- Replace `use_pretrained_backbone` with `pretrained_backbone_weights`
- Bump diffusers' minimum version `0.26.3` -> `0.27.2`
- Add ignore flags in CI's pytest
- Change Box observation spaces in simulation environments
- Set `version_base="1.2"` in Hydra initializations
- Bump einops' minimum version `0.7.0` -> `0.8.0`
 2024-04-29 00:31:33 +02:00
Alexander Soare
45f351c618 Make sure targets are normalized too (#106) 2024-04-26 11:18:39 +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
Remi
e760e4cd63 Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +02:00
Alexander Soare
c50a13ab31 draft 2024-04-17 10:50:54 +01:00
Alexander Soare
03b08eb74e backup wip 2024-04-16 12:51:32 +01:00
Alexander Soare
5608e659e6 backup wip 2024-04-15 19:06:44 +01:00
Alexander Soare
14f3ffb412 Merge remote-tracking branch 'upstream/main' into refactor_dp 2024-04-15 17:08:28 +01:00
Alexander Soare
30023535f9 revision 1 2024-04-15 10:56:43 +01:00
Alexander Soare
ef4bd9e25c Use dataclass config for ACT 2024-04-15 09:39:23 +01:00
Alexander Soare
55e484124a draft pr 2024-04-12 17:03:59 +01:00
Alexander Soare
94cc22da9e Merge remote-tracking branch 'upstream/main' into refactor_dp 2024-04-11 17:52:10 +01:00
Alexander Soare
976a197f98 backup wip 2024-04-11 17:51:35 +01:00