Alexander Soare
c5010fee9a
fix seeding
2024-03-20 08:21:33 +00:00
Alexander Soare
18fa88475b
Move reset_warning_issued flag to class attribute
2024-03-20 08:09:38 +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
bae7e7b41c
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 14:06:53 +00:00
Alexander Soare
3124f71ebd
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 14:04:23 +00:00
Alexander Soare
4ecfd17f9e
fix wandb artifact name and add disable option
2024-03-15 13:56:55 +00:00
Cadene
b752833f3f
fix download
2024-03-15 13:19:18 +00:00
Alexander Soare
a45896dc8d
Merge remote-tracking branch 'origin/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-15 13:05:35 +00:00
Cadene
5805a7ffb1
small fix in type + comments
2024-03-15 12:44:52 +00:00
Cadene
41521f7e96
self.root is Path or None + The following packages are already present in the pyproject.toml and will be skipped:
...
- huggingface-hub
If you want to update it to the latest compatible version, you can use `poetry update package`.
If you prefer to upgrade it to the latest available version, you can use `poetry add package@latest`.
Nothing to add.
2024-03-15 10:56:46 +00:00
Cadene
b10c9507d4
Small fix
2024-03-15 00:36:55 +00:00
Cadene
a311d38796
Add aloha + improve readme
2024-03-15 00:30:11 +00:00
Cadene
19730b3412
Add pusht on hf dataset (WIP)
2024-03-14 16:59:37 +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
304355c917
Merge remote-tracking branch 'origin/main' into train_pusht
2024-03-11 15:37:37 +00:00
Alexander Soare
2a01487494
early training loss as expected
2024-03-11 13:34:04 +00:00
Simon Alibert
78690d197f
Merge pull request #19 from Cadene/user/aliberts/2024_03_11_wandb_config
...
Configure wandb entity outside config
2024-03-11 14:17:44 +01:00
Remi
fab2b3240b
Merge pull request #17 from Cadene/user/rcadene/2024_03_11_bugfix_compute_stats
...
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
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
...
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
a027f4edfb
Add cfg.offline_prioritized_sampler
2024-03-04 23:08:52 +00:00
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
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
