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2c2e4e14edd5586bd6cced4a3a7af656548ff282
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281 Commits

Author SHA1 Message Date
Remi
2c2e4e14ed Add aloha_dora_format.py (#201) 
Co-authored-by: Thomas Wolf <thomwolf@users.noreply.github.com>
 2024-05-30 11:26:39 +02:00
Alexander Soare
3d625ae6d3 Handle crop_shape=None in Diffusion Policy (#219) 2024-05-28 18:27:33 +01:00
Alexander Soare
e3b9f1c19b Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +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
Remi
c4da689171 Hot fix to compute validation loss example test (#200) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-20 18:30:11 +02:00
Radek Osmulski
9b62c25f6c Adds split_by_episodes to LeRobotDataset (#158) 2024-05-20 14:04:04 +02:00
Remi
01eae09ba6 Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
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
AshisGhosh
fc5cf3d84a Fixes issue #152 - error with creating wandb artifact (#172) 
Co-authored-by: Ashis Ghosh <ahsisghosh@live.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-12 08:13:12 +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
Alexander Soare
b187942db4 Add context manager for seeding (#164) 2024-05-09 17:58:39 +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
26d9a070d8 Add policy and dataset tags to WandB logging (#144) 2024-05-07 09:09:21 +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
Remi
6eaffbef1d Add 25 real world datasets (static + mobile aloha) (#133) 2024-05-05 19:13:11 +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
Remi
19812ca470 Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Simon Alibert
c015252e20 Remove batch length restrictions in select_action (#123) 2024-05-04 15:33:55 +02:00
Alexander Soare
bccee745c3 Refactor eval.py (#127) 2024-05-03 17:33:16 +01:00
Remi
b2cda12f87 Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +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
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
01d5490d44 Follow transformers single file naming conventions (#124) 2024-05-01 13:09:42 +01:00
Alexander Soare
986583dc5c Nest ACT model in ACT Policy (#122) 2024-04-30 17:17:40 +01:00
Alexander Soare
9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Remi
e4e739f4f8 Refactor push_dataset_to_hub (#118) 2024-04-30 14:25:41 +02:00
Simon Alibert
2765877f28 Speed up CI, add more checks (#115) 
- Split pytest and end-to-end tests into separate jobs
- Add poetry check to ensure pyproject.toml and poetry.lock are in sync
- Add ruff format --diff to ensure style formatting is applied (fails if ruff would reformat anything)
 2024-04-29 23:05:55 +02:00
Adil Zouitine
1ec5f77f7c Remove mask check key in XarmProcessor (#117) 2024-04-29 22:00:37 +02:00
Quentin Gallouédec
508bd92d03 Remove update method from the policy (#99) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-29 12:27:58 +02:00
Adil Zouitine
5b4fd8891d Update UmiProcessor default fps to 10 (#116) 2024-04-29 12:11:34 +02:00
Alexander Soare
ccffa9e406 Fix policy defaults (#113) 2024-04-29 08:26:59 +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
Adil Zouitine
55dc9f7f51 Refactor the download and publication of the datasets and convert it into CLI script (#95) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-29 00:08:17 +02:00
Adil Zouitine
81e490d46f Add UMI-gripper dataset (#83) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-28 18:41:07 +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
Remi
1030ea0070 Loads episode_data_index and stats during dataset __init__ (#85) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-23 14:13:25 +02:00
Alexander Soare
8d980940a2 Fix tolerance for delta_timestamps (#84) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-18 18:48:22 +01:00