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
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
6902e01db0
tests are passing for aloha/act policies, removes abstract policy
2024-04-09 03:28:56 +00:00
Cadene
73dfa3c8e3
tests for tdmpc and diffusion policy are passing
2024-04-09 02:50:32 +00:00
Alexander Soare
50e4c8050c
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 17:13:11 +01:00
Cadene
1149894e1d
rename handle -> task
2024-04-08 14:54:52 +00:00
Alexander Soare
9c96349926
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 15:44:00 +01:00
Simon Alibert
3f6dfa4916
Add gym-aloha, rename simxarm -> xarm, refactor
2024-04-08 16:24:11 +02:00
Cadene
70aaf1c4cb
test_datasets.py are passing!
2024-04-08 14:16:57 +00:00
Alexander Soare
86365adf9f
revision
2024-04-08 14:44:46 +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
e982c732f1
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-08 09:25:45 +01:00
Cadene
4371a5570d
Remove latency, tdmpc policy passes tests (TODO: make it work with online RL)
2024-04-07 16:01:22 +00:00
Alexander Soare
ecc7dd3b17
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 18:35:13 +01:00
Cadene
5eff40b3d6
rename task, sim_transfer -> transfer
2024-04-05 17:18:37 +00:00
Alexander Soare
ab2286025b
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 18:06:00 +01:00
Cadene
f56b1a0e16
WIP tdmpc
2024-04-05 13:40:31 +00:00
Alexander Soare
edb125b351
backup wip
2024-04-05 11:03:28 +01:00
Alexander Soare
3a4dfa82fe
backup wip
2024-04-04 18:34:41 +01:00
Alexander Soare
110ac5ffa1
backup wip
2024-04-03 14:21:07 +01:00
Alexander Soare
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
Alexander Soare
dc745e3037
Remove unused part of diffusion policy config
2024-03-27 13:05:13 +00:00
Alexander Soare
1a1308d62f
fix environment seeding
...
add fixes for reproducibility
only try to start env if it is closed
revision
fix normalization and data type
Improve README
Improve README
Tests are passing, Eval pretrained model works, Add gif
Update gif
Update gif
Update gif
Update gif
Update README
Update README
update minor
Update README.md
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Update README.md
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Address suggestions
Update thumbnail + stats
Update thumbnail + stats
Update README.md
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com >
Add more comments
Add test_examples.py
2024-03-26 10:10:43 +00:00
Simon Alibert
98b9631aa6
Add n_obs_steps in default.yaml config
2024-03-26 10:08:00 +01:00
Simon Alibert
1c24bbda3f
WIP Upgrading simxam from mujoco-py to mujoco python bindings
2024-03-25 12:28:07 +01:00
Alexander Soare
529f42643d
revision
2024-03-22 12:33:25 +00:00
