tangger/lerobot_piper
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8548a87bd49c19bcda64cf0d6f205a378c1cebc3
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64 Commits

Author SHA1 Message Date
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
Hirokazu Ishida
538455a965 feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-10-30 11:00:05 +01:00
Alexander Soare
a60d27b132 Raise ValueError if horizon is incompatible with downsampling (#422) 2024-09-09 17:22:46 +01:00
NielsRogge
86bbd16d43 Improve discoverability on the hub (#325) 
Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-08-19 15:16:46 +02:00
Halvard Bariller
7a3cb1ad34 Adjust the timestamps' description in Diffusion Policy (#343) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-26 12:47:03 +01:00
Alexander Soare
abbb1d2367 Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +01:00
Alexander Soare
cc2f6e7404 Train diffusion pusht_keypoints (#307) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 12:35:50 +01:00
Jihoon Oh
b72d574891 fix Unet global_cond_dim to use state dim, not action dim (#278) 2024-06-17 15:17:28 +01:00
Alexander Soare
15dd682714 Add multi-image support to diffusion policy (#218) 2024-06-17 08:11:20 +01:00
Alexander Soare
cf15cba5fc Remove redundant slicing operation in Diffusion Policy (#240) 2024-06-03 13:04:24 +01:00
Remi
d585c73f9f Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Alexander Soare
3d625ae6d3 Handle crop_shape=None in Diffusion Policy (#219) 2024-05-28 18:27:33 +01:00
Radek Osmulski
3b86050ab0 throw an error if config.do_maks_loss and action_is_pad not provided in batch (#213) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-27 09:06:26 +01:00
Akshay Kashyap
c9069df9f1 Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Alexander Soare
68c1b13406 Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert
f52f4f2cd2 Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Akshay Kashyap
460df2ccea Support for DDIMScheduler in Diffusion Policy (#146) 2024-05-08 18:05:16 +01:00
Alexander Soare
f5de57b385 Fix SpatialSoftmax input shape (#150) 2024-05-08 14:57:29 +01:00
Alexander Soare
a8e245fb31 Remove loss masking from diffusion policy (#135) 2024-05-06 07:27:01 +01:00
Alexander Soare
f3bba0270d Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Simon Alibert
c015252e20 Remove batch length restrictions in select_action (#123) 2024-05-04 15:33:55 +02:00
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
01d5490d44 Follow transformers single file naming conventions (#124) 2024-05-01 13:09:42 +01:00
Alexander Soare
9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Quentin Gallouédec
508bd92d03 Remove update method from the policy (#99) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-29 12:27:58 +02:00
Alexander Soare
ccffa9e406 Fix policy defaults (#113) 2024-04-29 08:26:59 +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
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
2298ddf226 wip 2024-04-17 16:21:37 +01:00
Alexander Soare
a9496fde39 revision 1 2024-04-16 17:15:51 +01:00
Alexander Soare
9c2f10bd04 ready for review 2024-04-16 13:43:58 +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
6d0a45a97d ready for review 2024-04-12 11:36:52 +01:00
Alexander Soare
5666ec3ec7 backup wip 2024-04-11 18:33:54 +01:00
Alexander Soare
976a197f98 backup wip 2024-04-11 17:51:35 +01:00
Alexander Soare
863f28ffd8 ready for review 2024-04-08 13:10:19 +01:00
Alexander Soare
1e71196fe3 backup wip 2024-04-05 17:38:29 +01:00
Cadene
a420714ee4 fix: action_is_pad was missing in compute_loss 2024-04-05 11:33:39 +00:00
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
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
bcfdba109f Update pre-commit & run on all files 2024-03-25 17:29:35 +01:00
Alexander Soare
72d3c3120b Merge remote-tracking branch 'upstream/main' into fix_pusht_diffusion 2024-03-21 10:20:52 +00:00
Alexander Soare
acf1174447 ready for review 2024-03-21 10:18:50 +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
32e3f71dd1 backup wip 2024-03-20 09:49:16 +00:00