tangger/lerobot_piper
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7c8eb7ff1916400d02e85dd33e8723eaa3538809
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228 Commits

Author SHA1 Message Date
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
575891e8ac Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 15:19:29 +01:00
Simon Alibert
d9019d9e7e disable env_checker in factory 2024-04-09 10:24:28 +02:00
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
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
Simon Alibert
5dff6d8339 remove aloha 2024-04-08 16:22:13 +02:00
Cadene
70aaf1c4cb test_datasets.py are passing! 2024-04-08 14:16:57 +00:00
Alexander Soare
91e0e4e175 rever change 2024-04-08 15:05:40 +01:00
Alexander Soare
0b4c42f4ff typos 2024-04-08 14:59:37 +01:00
Alexander Soare
62b18a7607 Add type hints 2024-04-08 14:51:45 +01:00
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
e1ac5dc62f fix aloha pixels env test 2024-04-07 17:20:54 +00:00
Cadene
4371a5570d Remove latency, tdmpc policy passes tests (TODO: make it work with online RL) 2024-04-07 16:01:22 +00:00
Cadene
44656d2706 test_envs are passing 2024-04-05 23:27:12 +00:00
Alexander Soare
8d2463f45b backup wip 2024-04-05 18:46:30 +01:00
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
Cadene
a2d3588fca wrap dm_control aloha into gymnasium (TODO: properly seeding the env) 2024-04-05 17:17:31 +00:00
Cadene
29032fbcd3 wrap dm_control aloha into gymnasium (TODO: properly seeding the env) 2024-04-05 17:17:14 +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
Alexander Soare
1e71196fe3 backup wip 2024-04-05 17:38:29 +01:00
Cadene
26602269cd test_envs.py are passing, remove simxarm and pusht directories 2024-04-05 16:21:07 +00:00
Cadene
f56b1a0e16 WIP tdmpc 2024-04-05 13:40:31 +00:00
Simon Alibert
ab3cd3a7ba (WIP) Add gym-xarm 2024-04-05 15:35:20 +02:00
Alexander Soare
0b8d27ff2c Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 12:48:11 +01:00
Cadene
c17dffe944 policies/utils.py 2024-04-05 11:47:15 +00:00
Alexander Soare
8ba88ba250 Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 12:34:14 +01:00
Cadene
a420714ee4 fix: action_is_pad was missing in compute_loss 2024-04-05 11:33:39 +00:00
Alexander Soare
4863e54ce9 Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 12:00:31 +01:00
Cadene
ad3379a73a fix memory leak due to itertools.cycle 2024-04-05 10:59:32 +00:00
Alexander Soare
9d77f5773d Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 11:41:11 +01:00
Alexander Soare
edb125b351 backup wip 2024-04-05 11:03:28 +01:00
Cadene
5af00d0c1e fix train.py, stats, eval.py (training is running) 2024-04-05 09:31:39 +00:00
Alexander Soare
3a4dfa82fe backup wip 2024-04-04 18:34:41 +01:00
Cadene
c93ce35d8c WIP stats (TODO: run tests on stats + cmpute them) 2024-04-04 16:36:03 +00:00
Cadene
1cdfbc8b52 WIP 
WIP

WIP train.py works, loss going down

WIP eval.py

Fix

WIP (eval running, TODO: verify results reproduced)

Eval works! (testing reproducibility)

WIP

pretrained model pusht reproduces same results as torchrl

pretrained model pusht reproduces same results as torchrl

Remove AbstractPolicy, Move all queues in select_action

WIP test_datasets passed (TODO: re-enable NormalizeTransform)
 2024-04-04 15:31:03 +00:00
Alexander Soare
278336a39a backup wip 2024-04-03 19:23:22 +01:00
Alexander Soare
110ac5ffa1 backup wip 2024-04-03 14:21:07 +01:00
Alexander Soare
c7d70a8db9 Merge remote-tracking branch 'upstream/main' into refactor_act 2024-04-03 10:08:12 +01:00
Alexander Soare
caf4ffcf65 add TODO 2024-04-03 09:56:46 +01:00