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
Simon Alibert
48e70e044e
Merge pull request #18 from Cadene/user/aliberts/2024_03_11_dynamic_build_versioning
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Add dynamic build versioning
2024-03-11 19:06:51 +01:00
Simon Alibert
4449c06823
Add comment
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Co-authored-by: Remi <re.cadene@gmail.com >
2024-03-11 19:06:22 +01:00
Simon Alibert
78690d197f
Merge pull request #19 from Cadene/user/aliberts/2024_03_11_wandb_config
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Configure wandb entity outside config
2024-03-11 14:17:44 +01:00
Simon Alibert
6d6c84b4a3
Remove entity from config
...
Co-authored-by: Remi <re.cadene@gmail.com >
2024-03-11 14:14:17 +01:00
Remi
fab2b3240b
Merge pull request #17 from Cadene/user/rcadene/2024_03_11_bugfix_compute_stats
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Fix bugs with normalization
2024-03-11 13:44:07 +01:00
Cadene
84a1647c01
fix import
2024-03-11 12:41:14 +00:00
Cadene
ccd5dc5a42
fix training
2024-03-11 12:33:15 +00:00
Simon Alibert
00fe4f4f18
Configure wandb entity outside config
2024-03-11 13:09:46 +01:00
Simon Alibert
225eebde40
Add dynamic build versioning
2024-03-11 12:10:46 +01:00
Cadene
816b2e9d63
fix more bugs in normalization
2024-03-11 11:03:51 +00:00
Cadene
a7ef4a6a33
fix bug in compute_stats for action normalization
2024-03-11 09:47:54 +00:00
Simon Alibert
f54ee7cda0
Fix paths
2024-03-10 16:51:50 +01:00
Simon Alibert
134009f337
Remove init files
2024-03-10 16:38:49 +01:00
Simon Alibert
6c867d78ef
Integrate pusht env from diffusion
2024-03-10 16:33:03 +01:00
Simon Alibert
302b78962c
Integrate diffusion policy
2024-03-10 15:31:17 +01:00
Simon Alibert
59397fb44a
Move tdmpc files
2024-03-09 18:44:36 +01:00
Simon Alibert
89eaab140b
Add pusht test artifact
2024-03-09 15:36:20 +01:00
Simon Alibert
f1e2837d63
fix pusht data_dir path
2024-03-08 12:26:15 +01:00
Remi Cadene
524d29aa80
fix tests
2024-03-07 13:23:22 +01:00
Remi Cadene
d782b029e1
Add aloha dataset
2024-03-06 10:26:32 +00:00
Remi
49c0955f97
Merge pull request #7 from Cadene/user/rcadene/2024_03_05_abstract_replay_buffer
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Add AbstractReplayBuffer
2024-03-06 11:25:24 +01:00
Remi Cadene
eed24b083a
small fix
2024-03-06 10:21:22 +00:00
Remi Cadene
f95ecd66fc
Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements
2024-03-06 10:15:57 +00:00
Simon Alibert
a6d353c419
Fix
2024-03-05 17:00:17 +01:00
Remi Cadene
2f80d71c3e
Remove noqa-F821
2024-03-05 10:22:21 +00:00
Remi Cadene
d4e0849970
Refactor datasets with abstract class
2024-03-05 10:20:57 +00:00
Remi Cadene
e132a267aa
offline_prioritized_sampler: true
2024-03-04 23:17:59 +00:00
Remi Cadene
a027f4edfb
Add cfg.offline_prioritized_sampler
2024-03-04 23:08:52 +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
e29fbb50e8
Fix grad_clip_norm 0 -> 10, Fix normalization min_max to be per channel
2024-03-04 17:26:34 +00:00
Remi Cadene
cfc304e870
Refactor env queue, Training diffusion works (Still not converging)
2024-03-04 11:00:51 +00:00
Remi Cadene
fddd9f0311
Add possibility for the policy to provide a sequence of actions to the env
2024-03-03 14:02:24 +00:00
Remi Cadene
4c400b41a5
Improve log msg in train.py
2024-03-03 13:22:09 +00:00
Remi Cadene
0f2fa4d9ef
Add obs queue to pusht, Set n_obs_steps=2 for diffusion (Not fully tested)
2024-03-03 13:21:31 +00:00
Remi Cadene
cbbed590a9
Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)
2024-03-03 13:19:02 +00:00
Simon Alibert
b859e89936
Fix for PR #5
2024-03-03 13:05:21 +01:00
Simon Alibert
b33ec5a630
Add run on cpu-only compatibility
2024-03-03 12:47:26 +01:00
Remi Cadene
48ded3dbc7
fix
2024-03-02 18:11:50 +00:00
Remi Cadene
661bda45ea
imagenet_norm: False
2024-03-02 17:18:58 +00:00
Remi Cadene
80785f8d0e
Small fix, Refactor diffusion, Diffusion runs (TODO: remove normalization in diffusion)
2024-03-02 17:04:39 +00:00
Remi Cadene
45b4ecb727
pre-commit run -a
2024-03-02 15:58:21 +00:00
Remi Cadene
1ae6205269
Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion)
2024-03-02 15:53:29 +00:00
Remi Cadene
b5a2f460ea
fix bus error
2024-03-01 14:22:05 +00:00
Simon Alibert
c1942d45d3
Fixes for PR #4
2024-03-01 14:59:05 +01:00
Simon Alibert
b862145e22
Added pusht dataset auto-download
2024-03-01 14:31:54 +01:00
Cadene
ca948c1e5b
fix zip strict=False
2024-03-01 00:45:23 +00:00
Cadene
ae050d2e94
Solve conflicts + pre-commit run -a
2024-02-29 23:31:32 +00:00
Cadene
0b9027f05e
Clean logging, Refactor
2024-02-29 23:21:27 +00:00
