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
14f3ffb412
Merge remote-tracking branch 'upstream/main' into refactor_dp
2024-04-15 17:08:28 +01:00
Alexander Soare
30023535f9
revision 1
2024-04-15 10:56:43 +01:00
Alexander Soare
ef4bd9e25c
Use dataclass config for ACT
2024-04-15 09:39:23 +01:00
Alexander Soare
55e484124a
draft pr
2024-04-12 17:03:59 +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
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
6902e01db0
tests are passing for aloha/act policies, removes abstract policy
2024-04-09 03:28:56 +00:00
Cadene
73dfa3c8e3
tests for tdmpc and diffusion policy are passing
2024-04-09 02:50:32 +00:00
Alexander Soare
9c96349926
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-08 15:44:00 +01:00
Cadene
70aaf1c4cb
test_datasets.py are passing!
2024-04-08 14:16:57 +00:00
Alexander Soare
86365adf9f
revision
2024-04-08 14:44:46 +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
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
Cadene
4371a5570d
Remove latency, tdmpc policy passes tests (TODO: make it work with online RL)
2024-04-07 16:01:22 +00:00
Alexander Soare
ab2286025b
Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl
2024-04-05 18:06:00 +01:00
Cadene
f56b1a0e16
WIP tdmpc
2024-04-05 13:40:31 +00:00
Alexander Soare
edb125b351
backup wip
2024-04-05 11:03:28 +01:00
Alexander Soare
3a4dfa82fe
backup wip
2024-04-04 18:34:41 +01:00
Alexander Soare
110ac5ffa1
backup wip
2024-04-03 14:21:07 +01:00
Alexander Soare
2b928eedd4
backup wip
2024-04-02 19:11:53 +01:00
Alexander Soare
dc745e3037
Remove unused part of diffusion policy config
2024-03-27 13:05:13 +00:00
Simon Alibert
1c24bbda3f
WIP Upgrading simxam from mujoco-py to mujoco python bindings
2024-03-25 12:28:07 +01:00
Alexander Soare
acf1174447
ready for review
2024-03-21 10:18:50 +00:00
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
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
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
6c867d78ef
Integrate pusht env from diffusion
2024-03-10 16:33:03 +01:00
Remi Cadene
a027f4edfb
Add cfg.offline_prioritized_sampler
2024-03-04 23:08:52 +00:00
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
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
661bda45ea
imagenet_norm: False
2024-03-02 17:18:58 +00:00
Cadene
0b9027f05e
Clean logging, Refactor
2024-02-29 23:21:27 +00:00
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
7df542445c
Small fix and improve logging message
2024-02-27 11:44:26 +00:00
Cadene
21670dce90
Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)
2024-02-26 01:10:09 +00:00
