tangger/lerobot_piper
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81e490d46ff83fa52774a696a1be439dfdfec3ff
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114 Commits

Author SHA1 Message Date
Adil Zouitine
81e490d46f Add UMI-gripper dataset (#83) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-28 18:41:07 +02:00
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
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
Alexander Soare
c9454333d8 revision 2024-04-17 09:02:35 +01:00
Alexander Soare
1331d3b4e4 fix issue with saving freshly computed stats 2024-04-17 08:49:28 +01:00
Cadene
4327e43f19 fix merge thingy 2024-04-16 17:24:25 +00:00
Cadene
36d9e885ef Address comments 2024-04-16 17:20:54 +00:00
Cadene
4a3eac4743 fix unit tests, stats was missing, visualize_dataset was broken 2024-04-16 17:20:53 +00:00
Cadene
0980fff6cc HF datasets works 2024-04-16 17:19:40 +00:00
Cadene
5edd9a89a0 Move stats_dataset init into else statement -> faster init 2024-04-16 17:19:39 +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
Cadene
c6aca7fe44 For Pusht: use hf datasets to train, rename load_data_with_delta_timestamps -> load_previous_and_future_frames 2024-04-16 17:19:06 +00:00
Alexander Soare
03b08eb74e backup wip 2024-04-16 12:51:32 +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
c1a618e567 fix pusht images type from float32 to uint8, update gym-pusht dependencies 2024-04-11 14:29:16 +00:00
Cadene
657b27cc8f fix load_data_with_delta_timestamps and add tests 2024-04-11 13:00:09 +00:00
Cadene
3914831585 remove __name__ outside script 2024-04-10 17:16:44 +00:00
Cadene
f8c5a2eb10 remove comment 2024-04-10 17:14:02 +00:00
Cadene
9874652c2f enable test_compute_stats 
enable test_compute_stats
 2024-04-10 17:12:54 +00:00
Cadene
e8622154f8 Replace import gym_pusht in pusht dataset by dynamic import 2024-04-10 15:56:18 +00:00
Cadene
c08003278e test_examples are passing 2024-04-10 13:45:45 +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
50e4c8050c Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-08 17:13:11 +01:00
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
863f28ffd8 ready for review 2024-04-08 13:10:19 +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
Cadene
44656d2706 test_envs are passing 2024-04-05 23:27:12 +00:00
Alexander Soare
1e71196fe3 backup wip 2024-04-05 17:38:29 +01:00
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
Cadene
5af00d0c1e fix train.py, stats, eval.py (training is running) 2024-04-05 09:31:39 +00:00
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
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
Alexander Soare
c50a62dd6d clarifying math 2024-04-03 09:47:38 +01:00
Alexander Soare
e9eb262293 numerically sound mean computation 2024-04-03 09:44:20 +01:00
Alexander Soare
65ef8c30d0 backup wip 2024-04-02 19:13:49 +01:00
Alexander Soare
2b928eedd4 backup wip 2024-04-02 19:11:53 +01:00
Alexander Soare
a6edb85da4 Remove random sampling 2024-04-02 16:52:38 +01:00