tangger/lerobot_piper
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a2592a5563d20fecf0a8239e4af848d2bccbe4cd
Commit Graph

94 Commits

Author SHA1 Message Date
Zhuoheng Li
a2592a5563 Provide more information to the user (#358) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-08-23 11:00:35 +01:00
Alexander Soare
f8a6574698 Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Remi
5e54e39795 Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00
Wael Karkoub
54c9776bde Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
Alexander Soare
1eb4bfe2e4 Fix videos_dir documentation (#247) 2024-06-05 08:25:20 +01:00
Alexander Soare
21f222fa1d Add out_dir option to eval (#244) 2024-06-04 21:01:53 +02:00
Alexander Soare
e3b9f1c19b Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Alexander Soare
b6c216b590 Add Automatic Mixed Precision option for training and evaluation. (#199) 2024-05-20 18:57:54 +01:00
Simon Alibert
f52f4f2cd2 Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Simon Alibert
f5e76393eb Release cleanup (#132) 
Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
 2024-05-06 03:03:14 +02:00
Alexander Soare
6e6feae09e Remove additional frame from eval render (#137) 2024-05-05 13:49:53 +02:00
Alexander Soare
f6fe162432 Rename Diffusion Policy model repository (#136) 2024-05-05 12:06:58 +01:00
Alexander Soare
f3bba0270d Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Alexander Soare
d747195c57 Fix loops in eval.py (#128) 2024-05-04 15:21:10 +01:00
Alexander Soare
bccee745c3 Refactor eval.py (#127) 2024-05-03 17:33:16 +01:00
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
9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +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
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
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) 
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
Cadene
36d9e885ef Address comments 2024-04-16 17:20:54 +00:00
Cadene
e09d25267e fix online training 2024-04-16 17:20:53 +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
9241b5e830 pass step as kwarg 2024-04-15 09:52:54 +01:00
Cadene
949f4d1a5b remove comment 2024-04-10 17:21:36 +00:00
Remi
4c3d8b061e Update lerobot/scripts/eval.py 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-04-10 18:07:27 +02:00
Cadene
8866b22db1 remove policy is None eval end-to-end tests 2024-04-10 15:09:04 +00:00
Cadene
48ec479660 fix end-to-end aloha 2024-04-10 14:26:30 +00:00
Cadene
a18bcb39a7 cfg.env.fps 2024-04-10 14:02:11 +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
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
Alexander Soare
91e0e4e175 rever change 2024-04-08 15:05:40 +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
8d2463f45b backup wip 2024-04-05 18:46:30 +01:00
Cadene
26602269cd test_envs.py are passing, remove simxarm and pusht directories 2024-04-05 16:21:07 +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
b7c9c33072 revision 2024-03-27 18:33:48 +00:00
Alexander Soare
6cd671040f fix revision 2024-03-27 13:22:14 +00:00
Alexander Soare
1ed0110900 finish examples 2 and 3 2024-03-26 16:13:40 +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
7cdd6d2450 Renamed set_seed -> set_global_seed 2024-03-25 17:19:28 +01:00