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Mono Color

• aebea08a99 Added support for checkpointing the policy. We can save and load the policy state dict, optimizers state, optimization step and interaction step Added functions for converting the replay buffer from and to LeRobotDataset. When we want to save the replay buffer, we convert it first to LeRobotDataset format and save it locally and vice-versa. Michel Aractingi 2025-01-30 17:39:41 +00:00
• 03616db82c Removed unnecessary time.sleep in the streaming server on the learner side Michel Aractingi 2025-01-29 16:31:38 +00:00
• 93c4fc198f Added missing config files env/maniskill_example.yaml and policy/sac_maniskill.yaml that are necessary to run the lerobot implementation of sac with the maniskill baselines. Michel Aractingi 2025-01-29 16:07:32 +00:00
• 8cd44ae163 - Added additional logging information in wandb around the timings of the policy loop and optimization loop. - Optimized critic design that improves the performance of the learner loop by a factor of 2 - Cleaned the code and fixed style issues Michel Aractingi 2025-01-29 15:50:46 +00:00
• 2ae657f568 FREEDOM, added back the optimization loop code in learner_server.py Ran experiment with pushcube env from maniskill. The learning seem to work. Michel Aractingi 2025-01-28 17:25:49 +00:00
• 508f5d1407 Added server directory in lerobot/scripts that contains scripts and the protobuf message types to split training into two processes, acting and learning. The actor rollouts the policy and collects interaction data while the learner recieves the data, trains the policy and sends the updated parameters to the actor. The two scripts are ran simultaneously Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Michel Aractingi 2025-01-28 15:52:03 +00:00
• c8b1132846 Stable version of rlpd + drq AdilZouitine 2025-01-22 09:00:16 +00:00
• ef777993cd Add type annotations and restructure SACConfig class fields AdilZouitine 2025-01-21 09:51:12 +00:00
• 760d60ad4b Change SAC policy implementation with configuration and modeling classes Adil Zouitine 2025-01-17 09:39:04 +01:00
• 875c0271b7 SAC works Adil Zouitine 2025-01-14 11:34:52 +01:00
• 57344bfde5 [WIP] correct sac implementation Adil Zouitine 2025-01-13 17:54:11 +01:00
• 46827fb002 Add rlpd tricks Adil Zouitine 2025-01-15 15:49:24 +01:00
• 2fd78879f6 SAC works Adil Zouitine 2025-01-14 11:34:52 +01:00
• e8449e9630 remove breakpoint Adil Zouitine 2025-01-13 17:58:00 +01:00
• a0e2be8b92 [WIP] correct sac implementation Adil Zouitine 2025-01-13 17:54:11 +01:00
• 181727c0fe Extend reward classifier for multiple camera views (#626) Michel Aractingi 2025-01-13 13:57:49 +01:00
• d1d6ffd23c [Port HIL_SERL] Final fixes for the Reward Classifier (#598) Eugene Mironov 2025-01-06 17:34:00 +07:00
• e5801f467f added temporary fix for missing task_index key in online environment Michel Aractingi 2024-12-30 13:47:28 +00:00
• c6ca9523de split encoder for critic and actor Michel Aractingi 2024-12-29 23:59:39 +00:00
• 642e3a3274 style fixes Michel Aractingi 2024-12-29 14:35:21 +00:00
• 146148c48c Refactor SAC configuration and policy for improved action sampling and stability KeWang1017 2024-12-29 12:30:39 +00:00
• 8f15835daa Refine SAC configuration and policy for enhanced performance KeWang1017 2024-12-28 22:11:34 +00:00
• 022bd65125 Refactor SACPolicy for improved action sampling and standard deviation handling KeWang1017 2024-12-28 18:07:15 +00:00
• 63d8c96514 trying to get sac running KeWang1017 2024-12-26 23:38:46 +00:00
• 4624a836e5 Added normalization schemes and style checks Michel Aractingi 2024-12-29 12:51:21 +00:00
• ad7eea132d added optimizer and sac to factory.py Michel Aractingi 2024-12-23 14:12:03 +01:00
• 22a1899ff4 [HIL-SERL PORT] Fix linter issues (#588) Eugene Mironov 2024-12-23 16:44:29 +07:00
• 17a3a31b5f [Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) Eugene Mironov 2024-12-23 16:43:55 +07:00
• 1a8b99e360 added comments from kewang Michel Aractingi 2024-12-17 18:03:46 +01:00
• 6db2154f28 Enhance SAC configuration and policy with new parameters and subsampling logic KeWang1017 2024-12-17 15:58:04 +00:00
• be3adda95f Port SAC WIP (#581) KeWang 2024-12-17 13:26:17 +00:00
• 9d48d236c1 completed losses Michel Aractingi 2024-12-12 11:45:30 +01:00
• b57d6a7776 nit in control_robot.py Michel Aractingi 2024-12-11 00:30:33 +01:00
• d1f76cba8e Update lerobot/scripts/train_hilserl_classifier.py Michel Aractingi 2024-12-11 00:22:10 +01:00
• d78cef1fee Fixup Eugene Mironov 2024-12-17 02:42:53 +07:00
• 30a808c0ae Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) Michel Aractingi 2024-12-09 19:17:47 +01:00
• 4a7f85a6ec Reward classifier and training (#528) Yoel 2024-12-09 10:21:50 +01:00
• a22fe8a6de Refactor SACObservationEncoder to improve modularity and readability. Split initialization into dedicated methods for image and state layers, and enhance caching logic for image features. Update forward method to streamline feature encoding and ensure proper normalization handling. user/michel-aractingi/tmp-port-hil-serl-new AdilZouitine 2025-04-18 12:22:14 +00:00
• b6b9635be6 Remove names Simon Alibert 2025-04-18 09:48:16 +02:00
• 21b1026872 Remove deprecated dynamixel_calibration Simon Alibert 2025-04-18 09:34:46 +02:00
• 8c3eab32b0 Remove deprecated configure_motor Simon Alibert 2025-04-18 09:19:43 +02:00
• 29633865c7 Fix _find_single_motor Simon Alibert 2025-04-18 09:18:56 +02:00
• 0fc9a4341f fix: separate threads for obs streaming, action receiving & execution + action queue reconciliation Francesco Capuano 2025-04-17 21:09:58 +02:00
• d40e74f371 fix: streams inference process using LIFO on obs Francesco Capuano 2025-04-17 21:09:04 +02:00
• 40237f5ea3 fix: ruff, get your hands off compiled files Francesco Capuano 2025-04-17 20:33:54 +02:00
• 2bcdb57854 fix: bus ids Francesco Capuano 2025-04-17 20:02:59 +02:00
• e9ca1b612d fix: send obs, receives and queues actions chunk, overwrites queue periodically Francesco Capuano 2025-04-15 12:00:33 +02:00
• 169babd621 fix: server predicts multiple actions for a given observation, VLA-like Francesco Capuano 2025-04-15 11:59:59 +02:00
• a9031ee1be add: server computes action, robot's daemon constantly reads it Francesco Capuano 2025-04-14 19:25:44 +02:00
• fc107a2c6e add: robot can send observations Francesco Capuano 2025-04-14 17:29:21 +02:00
• 84fabbf4af add: grpc service between robot and remote policy server Francesco Capuano 2025-04-14 15:40:15 +02:00
• 49b5f379a7 Refactor SACPolicy initialization by breaking down the constructor into smaller methods for normalization, encoders, critics, actor, and temperature setup. This enhances readability and maintainability. AdilZouitine 2025-04-17 16:37:43 +00:00
• 7a3d8756b4 Refactor input and output normalization handling in SACPolicy for improved clarity and efficiency. Consolidate encoder initialization logic and remove redundant else statements. AdilZouitine 2025-04-17 16:05:11 +00:00
• 702749b7d3 Fix setup_motor & add it to robots Simon Alibert 2025-04-17 16:56:23 +02:00
• b43ece8934 Add pythno3-dev in Dockerfile to build and modify Readme.md , python-dev to python3-dev (#987) k1000dai 2025-04-17 16:17:07 +02:00
• c10c5a0e64 Fix --width --height type parsing on opencv and intelrealsense scripts (#556) Alex Thiele 2025-04-17 06:19:23 -07:00
• a8db91c40e Fix Windows HTML visualization to make videos could be seen (#647) Junshan Huang 2025-04-17 21:07:28 +08:00
• 0f5f7ac780 Fix broken links in examples/4_train_policy_with_script.md (#697) HUANG TZU-CHUN 2025-04-17 20:59:43 +08:00
• bf1c737858 Fix calibration msg display Simon Alibert 2025-04-17 13:18:32 +02:00
• d07c7347f8 Add setup_motor Simon Alibert 2025-04-17 13:14:06 +02:00
• 54b5c805bf Revert mistake convert_dataset_v20_to_v21.py Remi Cadene 2025-04-17 04:47:00 +02:00
• eab5543750 Merge (No verify) Remi Cadene 2025-04-17 04:46:09 +02:00
• e42485c837 refactor(cameras): remove tmp video capture in connect test/add_cameras_di_tests_no_tmp_connect Steven Palma 2025-04-17 00:51:24 +02:00
• cdcb27f908 test(cameras): add opencv camera dependency injection tests suite test/add_cameras_di_tests Steven Palma 2025-04-16 22:13:22 +02:00
• 79498ab967 refactor(cameras): remove tmp video capture in connect test/add_cameras_patch_tests_no_tmp_connect Steven Palma 2025-04-17 00:33:31 +02:00
• cb10f97ccc test(cameras): add opencv camera patch tests suite test/add_cameras_patch_tests Steven Palma 2025-04-15 17:47:51 +02:00
• 6b6a990f4c most unit tests passing (TODO: convert datasets) Remi Cadene 2025-04-16 21:30:58 +02:00
• dc1548fe1a Fix init temp Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com> AdilZouitine 2025-04-16 14:43:47 +00:00
• 23c9441d5f Update log_std_min type to float in PolicyConfig for consistency AdilZouitine 2025-04-15 14:02:24 +00:00
• 870e3efb92 fix caching AdilZouitine 2025-04-15 13:16:22 +00:00
• bfd48a8b70 Handle caching AdilZouitine 2025-04-15 13:02:31 +00:00
• 5dc7ff6d3c change the tanh distribution to match hil serl Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com> AdilZouitine 2025-04-15 08:31:14 +00:00
• ee4ebeac9b match target entropy hil serl AdilZouitine 2025-04-15 08:00:38 +00:00
• fe7b47f459 stick to hil serl nn architecture AdilZouitine 2025-04-15 07:44:32 +00:00
• 044ca3b039 Refactor modeling_sac and parameter handling for clarity and reusability. AdilZouitine 2025-04-14 14:00:57 +00:00
• bc36c69b71 fix encoder training AdilZouitine 2025-04-11 11:50:46 +00:00
• 2b9b05f1ba [pre-commit.ci] auto fixes from pre-commit.com hooks pre-commit-ci[bot] 2025-04-09 15:05:17 +00:00
• 9eec7b8bb0 General fixes in code, removed delta action, fixed grasp penalty, added logic to put gripper reward in info Michel Aractingi 2025-04-09 17:04:43 +02:00
• a80a9cf379 [pre-commit.ci] auto fixes from pre-commit.com hooks pre-commit-ci[bot] 2025-04-09 13:51:31 +00:00
• 7a42af835e fix caching and dataset stats is optional AdilZouitine 2025-04-09 13:20:51 +00:00
• 9751328783 Add rounding for safety AdilZouitine 2025-04-08 08:50:02 +00:00
• 7225bc74a3 [pre-commit.ci] auto fixes from pre-commit.com hooks pre-commit-ci[bot] 2025-04-07 15:48:39 +00:00
• 03b1644bf7 fix sign issue AdilZouitine 2025-04-07 15:44:06 +00:00
• 9b6e5a383f Refactor complementary_info handling in ReplayBuffer AdilZouitine 2025-04-07 14:48:42 +00:00
• 86466b025f Handle gripper penalty AdilZouitine 2025-04-07 08:23:49 +00:00
• 54745f111d fix caching AdilZouitine 2025-04-04 14:29:38 +00:00
• 82584cca78 [pre-commit.ci] auto fixes from pre-commit.com hooks pre-commit-ci[bot] 2025-04-04 07:59:22 +00:00
• d3a8c2c247 fix indentation issue AdilZouitine 2025-04-03 16:05:29 +00:00
• 74c11c4a75 Enhance SAC configuration and replay buffer with asynchronous prefetching support AdilZouitine 2025-04-03 14:23:50 +00:00
• 2d932b710c Enhance SACPolicy to support shared encoder and optimize action selection AdilZouitine 2025-04-03 07:44:46 +00:00
• a54baceabb Enhance SACPolicy and learner server for improved grasp critic integration AdilZouitine 2025-04-02 15:50:39 +00:00
• 077d18b439 Refactor SACPolicy for improved readability and action dimension handling AdilZouitine 2025-04-01 15:43:29 +00:00
• c6cd1475a7 Add mock gripper support and enhance SAC policy action handling AdilZouitine 2025-04-01 14:22:08 +00:00
• e35ee47b07 Refactor SAC policy and training loop to enhance discrete action support AdilZouitine 2025-04-01 11:42:28 +00:00
• c3f2487026 Refactor SAC configuration and policy to support discrete actions AdilZouitine 2025-04-01 09:30:32 +00:00
• c621077b62 Added Gripper quantization wrapper and grasp penalty removed complementary info from buffer and learner server removed get_gripper_action function added gripper parameters to common/envs/configs.py Michel Aractingi 2025-04-01 11:08:15 +02:00
• f5cfd9fd48 [pre-commit.ci] auto fixes from pre-commit.com hooks pre-commit-ci[bot] 2025-03-31 16:10:00 +00:00
• 22da1739b1 Add grasp critic to the training loop s1lent4gnt 2025-03-31 18:06:21 +02:00
• d38d5f988d Add get_gripper_action method to GamepadController s1lent4gnt 2025-03-31 17:40:00 +02:00
• 8d1936ffe0 Add gripper penalty wrapper s1lent4gnt 2025-03-31 17:38:16 +02:00