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cf15cba5fc932fcbb03e2ca490b1d3870da0f8db
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129 Commits

Author SHA1 Message Date
Alexander Soare
cf15cba5fc Remove redundant slicing operation in Diffusion Policy (#240) 2024-06-03 13:04:24 +01:00
Remi
d585c73f9f Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Alexander Soare
57fb5fe8a6 Improve documentation on VAE encoder inputs (#215) 2024-05-30 19:16:44 +02:00
Alexander Soare
3d625ae6d3 Handle crop_shape=None in Diffusion Policy (#219) 2024-05-28 18:27:33 +01:00
Radek Osmulski
3b86050ab0 throw an error if config.do_maks_loss and action_is_pad not provided in batch (#213) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-27 09:06:26 +01:00
Alexander Soare
5ec0af62c6 Explain why n_encoder_layers=1 (#193) 2024-05-17 15:05:40 +01:00
Alexander Soare
625f0557ef Act temporal ensembling (#186) 2024-05-17 14:57:49 +01:00
Alexander Soare
4d7d41cdee Fix act action queue (#185) 2024-05-16 15:43:25 +01:00
Akshay Kashyap
c9069df9f1 Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Alexander Soare
68c1b13406 Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert
f52f4f2cd2 Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Alexander Soare
1249aee3ac Enable logging all the information returned by the forward methods of policies (#151) 2024-05-10 07:45:32 +01:00
Ikko Eltociear Ashimine
0ea7a8b2a3 refactor: update configuration_tdmpc.py (#153) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-08 18:13:51 +01:00
Akshay Kashyap
460df2ccea Support for DDIMScheduler in Diffusion Policy (#146) 2024-05-08 18:05:16 +01:00
Alexander Soare
f5de57b385 Fix SpatialSoftmax input shape (#150) 2024-05-08 14:57:29 +01:00
Alexander Soare
47de07658c Override pretrained model config (#147) 2024-05-08 12:56:21 +01:00
Alexander Soare
a8e245fb31 Remove loss masking from diffusion policy (#135) 2024-05-06 07:27:01 +01:00
Alexander Soare
f3bba0270d Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Simon Alibert
c77633c38c Add regression tests (#119) 
- Add `tests/scripts/save_policy_to_safetensor.py` to generate test artifacts
- Add `test_backward_compatibility to test generated outputs from the policies against artifacts
 2024-05-04 16:20:30 +02:00
Simon Alibert
c015252e20 Remove batch length restrictions in select_action (#123) 2024-05-04 15:33:55 +02:00
Alexander Soare
c1668924ab Fix missing policy.to(device) in policy factory (#126) 2024-05-01 17:26:58 +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
01d5490d44 Follow transformers single file naming conventions (#124) 2024-05-01 13:09:42 +01:00
Alexander Soare
986583dc5c Nest ACT model in ACT Policy (#122) 2024-04-30 17:17:40 +01:00
Alexander Soare
9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Simon Alibert
2765877f28 Speed up CI, add more checks (#115) 
- Split pytest and end-to-end tests into separate jobs
- Add poetry check to ensure pyproject.toml and poetry.lock are in sync
- Add ruff format --diff to ensure style formatting is applied (fails if ruff would reformat anything)
 2024-04-29 23:05:55 +02:00
Quentin Gallouédec
508bd92d03 Remove update method from the policy (#99) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-29 12:27:58 +02:00
Alexander Soare
ccffa9e406 Fix policy defaults (#113) 2024-04-29 08:26:59 +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
Alexander Soare
45f351c618 Make sure targets are normalized too (#106) 2024-04-26 11:18:39 +01:00
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
Simon Alibert
7ad1909641 Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +02:00
Alexander Soare
dd9c6eed15 Add temporary patch in TD-MPC 2024-04-17 16:27:57 +01:00
Alexander Soare
2298ddf226 wip 2024-04-17 16:21:37 +01:00
Alexander Soare
63e5ec6483 revert some formatting changes 2024-04-17 11:40:49 +01:00
Alexander Soare
c50a13ab31 draft 2024-04-17 10:50:54 +01:00
Alexander Soare
cb3978b5f3 backup wip 2024-04-16 18:12:39 +01:00
Alexander Soare
0eb899de73 Merge remote-tracking branch 'upstream/main' into unify_policy_api 2024-04-16 17:30:41 +01:00
Alexander Soare
a9496fde39 revision 1 2024-04-16 17:15:51 +01:00
Alexander Soare
23be5e1e7b backup wip 2024-04-16 16:31:44 +01:00
Alexander Soare
9c2f10bd04 ready for review 2024-04-16 13:43:58 +01:00
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
40d417ef60 Make sure to make remove all traces of omegaconf from policy config 2024-04-15 09:59:18 +01:00
Alexander Soare
ef4bd9e25c Use dataclass config for ACT 2024-04-15 09:39:23 +01:00
Alexander Soare
34f00753eb remove policy.py 2024-04-12 17:13:25 +01:00
Alexander Soare
55e484124a draft pr 2024-04-12 17:03:59 +01:00