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101 Commits

Author SHA1 Message Date
Ilia Larchenko
c574eb4984 Fixed eval.py on MPS (#702) 2025-02-14 00:03:55 +01:00
Simon Alibert
90e099b39f Remove offline training, refactor train.py and logging/checkpointing (#670) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-02-11 10:36:06 +01:00
Remi
638d411cd3 Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
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
Simon Alibert
32eb0cec8f Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00
Simon Alibert
c712d68f6a Fix nightlies (#443) 2024-09-18 14:51:45 +02:00
Alexander Soare
9c7649f140 Make sure init_hydra_config does not require any keys (#376) 2024-08-23 12:27:08 +01:00
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
Remi
5e54e39795 Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00
Wael Karkoub
54c9776bde Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
Alexander Soare
1eb4bfe2e4 Fix videos_dir documentation (#247) 2024-06-05 08:25:20 +01:00
Alexander Soare
21f222fa1d Add out_dir option to eval (#244) 2024-06-04 21:01:53 +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
Simon Alibert
f52f4f2cd2 Add copyrights (#157) 2024-05-15 12:13:09 +02:00
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
6e6feae09e Remove additional frame from eval render (#137) 2024-05-05 13:49:53 +02:00
Alexander Soare
f6fe162432 Rename Diffusion Policy model repository (#136) 2024-05-05 12:06:58 +01:00
Alexander Soare
f3bba0270d Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Alexander Soare
d747195c57 Fix loops in eval.py (#128) 2024-05-04 15:21:10 +01:00
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
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
c1bcf857c5 Fix online training (#94) 2024-04-23 18:54:55 +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
e2168163cd Quality of life patches for eval.py (#86) 2024-04-19 12:33:47 +01:00
Simon Alibert
7ad1909641 Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +02:00
Remi
0928afd37d Improve dataset examples (#82) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-18 11:43:16 +02:00
Cadene
36d9e885ef Address comments 2024-04-16 17:20:54 +00:00
Cadene
e09d25267e fix online training 2024-04-16 17:20:53 +00:00
Cadene
67d79732f9 Add download_and_upload_dataset.py in script, update all datasets, update online training 2024-04-16 17:19:39 +00:00
Alexander Soare
9241b5e830 pass step as kwarg 2024-04-15 09:52:54 +01:00
Cadene
949f4d1a5b remove comment 2024-04-10 17:21:36 +00:00
Remi
4c3d8b061e Update lerobot/scripts/eval.py 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-04-10 18:07:27 +02:00
Cadene
8866b22db1 remove policy is None eval end-to-end tests 2024-04-10 15:09:04 +00:00
Cadene
48ec479660 fix end-to-end aloha 2024-04-10 14:26:30 +00:00
Cadene
a18bcb39a7 cfg.env.fps 2024-04-10 14:02:11 +00:00
Cadene
7c8eb7ff19 Merge remote-tracking branch 'origin/user/rcadene/2024_03_31_remove_torchrl' into user/rcadene/2024_03_31_remove_torchrl 2024-04-10 11:34:51 +00:00
Cadene
06573d7f67 online training works (loss goes down), remove repeat_action, eval_policy outputs episodes data, eval_policy uses max_episodes_rendered 2024-04-10 11:34:01 +00:00
Alexander Soare
e6c6c2367f Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 08:36:28 +01:00
Cadene
253e495df2 remove render(mode=visualization) 2024-04-09 03:46:05 +00:00
Alexander Soare
91e0e4e175 rever change 2024-04-08 15:05:40 +01:00
Alexander Soare
863f28ffd8 ready for review 2024-04-08 13:10:19 +01:00
Alexander Soare
1bab4a1dd5 Eval reproduction works with gym_aloha 2024-04-08 10:23:26 +01:00
Alexander Soare
8d2463f45b backup wip 2024-04-05 18:46:30 +01:00
Cadene
26602269cd test_envs.py are passing, remove simxarm and pusht directories 2024-04-05 16:21:07 +00:00