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
4b7ec81dde
remove abstracmethods, fix online training
2024-03-20 14:49:41 +00:00
Alexander Soare
32e3f71dd1
backup wip
2024-03-20 09:49:16 +00:00
Alexander Soare
5332766a82
revision
2024-03-20 09:45:45 +00:00
Alexander Soare
4f1955edfd
Clear action queue when environment is reset
2024-03-20 08:31:06 +00:00
Alexander Soare
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
Alexander Soare
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
Alexander Soare
88347965c2
revert dp changes, make act and tdmpc batch friendly
2024-03-18 19:18:21 +00:00
Alexander Soare
a222c88c99
Merge branch 'user/alexander-soare/train_pusht' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-14 16:06:21 +00:00
Alexander Soare
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
Alexander Soare
98484ac68e
ready for review
2024-03-12 21:59:01 +00:00
Alexander Soare
9512d1d2f3
Merge branch 'main' into user/alexander-soare/train_pusht
2024-03-12 19:41:27 +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
Alexander Soare
87fcc536f9
wip - still need to verify full training run
2024-03-11 18:45:21 +00:00
Alexander Soare
2a01487494
early training loss as expected
2024-03-11 13:34:04 +00:00
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
a6d353c419
Fix
2024-03-05 17:00:17 +01:00
Remi
e990f3e148
Merge pull request #6 from Cadene/user/rcadene/2024_03_04_diffusion
...
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
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
0f2fa4d9ef
Add obs queue to pusht, Set n_obs_steps=2 for diffusion (Not fully tested)
2024-03-03 13:21:31 +00:00
Simon Alibert
b33ec5a630
Add run on cpu-only compatibility
2024-03-03 12:47:26 +01:00
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
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
Simon Alibert
2c05b75f45
Fixes for PR #3
2024-02-29 21:46:41 +01:00
Simon Alibert
7e024fdce6
Ran pre-commit run --all-files
2024-02-29 13:37:48 +01:00
Cadene
ac90b9c3ee
Fix diffusion (rm transpose), Add prefetch
2024-02-28 17:45:01 +00:00
Cadene
cf5063e50e
Add diffusion policy (train and eval works, TODO: reproduce results)
2024-02-28 15:21:42 +00:00
Cadene
21670dce90
Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)
2024-02-26 01:10:09 +00:00
Cadene
b16c334825
Refactor configs to have env in seperate yaml + Fix training
2024-02-25 17:42:47 +00:00
Cadene
e765e26b0b
Sanitize cfg.policy, Fix skip_frame pusht.yaml
2024-02-25 11:09:02 +00:00
Cadene
598bb496b0
Add policies/factory, Add test, Add _self_ in config
2024-02-25 10:50:23 +00:00
