Alexander Soare
45f351c618
Make sure targets are normalized too ( #106 )
2024-04-26 11:18:39 +01:00
Remi
e760e4cd63
Move normalization to policy for act and diffusion ( #90 )
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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 )
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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
Alexander Soare
bff4b673c9
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-17 08:08:57 +01:00
Cadene
36d9e885ef
Address comments
2024-04-16 17:20:54 +00:00
Cadene
c7a8218620
typo
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
Alexander Soare
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
Alexander Soare
9241b5e830
pass step as kwarg
2024-04-15 09:52:54 +01:00
Alexander Soare
6d0a45a97d
ready for review
2024-04-12 11:36:52 +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
693f620df0
drop_last=False
2024-04-10 14:59:54 +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
86365adf9f
revision
2024-04-08 14:44:46 +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
Alexander Soare
8d2463f45b
backup wip
2024-04-05 18:46:30 +01:00
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
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
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
Simon Alibert
c5635b7d94
Minor fixes for #47
2024-03-25 18:50:47 +01:00
Simon Alibert
7cdd6d2450
Renamed set_seed -> set_global_seed
2024-03-25 17:19:28 +01:00
Cadene
be6364f109
fix, it's training now!
2024-03-25 12:28:07 +01:00
Alexander Soare
bd40ffc53c
revision
2024-03-22 15:43:45 +00:00
Alexander Soare
15ff3b3af8
add fixes for reproducibility
2024-03-22 15:06:57 +00:00
Alexander Soare
72d3c3120b
Merge remote-tracking branch 'upstream/main' into fix_pusht_diffusion
2024-03-21 10:20:52 +00:00
Simon Alibert
4631d36c05
Add get_safe_torch_device in policies
2024-03-20 18:38:55 +01:00
Alexander Soare
d323993569
backup wip
2024-03-20 15:01:27 +00:00
Alexander Soare
4b7ec81dde
remove abstracmethods, fix online training
2024-03-20 14:49:41 +00:00
Alexander Soare
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
Alexander Soare
09ddd9bf92
Merge branch 'main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-18 18:27:50 +00:00
Alexander Soare
8e346b379d
switch between train and eval
2024-03-18 09:45:17 +00:00
Alexander Soare
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
Remi Cadene
9d002032d1
Add Aloha env and ACT policy
...
WIP Aloha env tests pass
Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])
Update README
Copy past from act repo
Remove download.py add a WIP for Simxarm
Remove download.py add a WIP for Simxarm
Add act yaml (TODO: try train.py)
Training can runs (TODO: eval)
Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)
Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)
poetry lock
fix bug in compute_stats for action normalization
fix more bugs in normalization
fix training
fix import
PushtEnv inheriates AbstractEnv, Improve factory Normalization
Add _make_env to EnvAbstract
Add call_rendering_hooks to pusht env
SimxarmEnv inherites from AbstractEnv (NOT TESTED)
Add aloha tests artifacts + update pusht stats
fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]
Small fix on simxarm
Add next to obs
Add top camera to Aloha env (TODO: make it compatible with set of cameras)
Add top camera to Aloha env (TODO: make it compatible with set of cameras)
2024-03-12 10:27:48 +00:00
Cadene
816b2e9d63
fix more bugs in normalization
2024-03-11 11:03:51 +00:00
Remi Cadene
f95ecd66fc
Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements
2024-03-06 10:15:57 +00:00
Remi Cadene
2bcf2631b9
minor comment
2024-03-04 22:34:44 +00:00
Remi
e990f3e148
Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion
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Make diffusion work
2024-03-04 18:30:40 +01:00
Remi Cadene
cfc304e870
Refactor env queue, Training diffusion works (Still not converging)
2024-03-04 11:00:51 +00:00
Remi Cadene
4c400b41a5
Improve log msg in train.py
2024-03-03 13:22:09 +00:00
Simon Alibert
b859e89936
Fix for PR #5
2024-03-03 13:05:21 +01:00
