Alexander Soare
d16f6a93b3
Merge remote-tracking branch 'upstream/main' into user/alexander-soare/multistep_policy_and_serial_env
2024-03-20 09:01:45 +00:00
Alexander Soare
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
Cadene
7d5d99e036
Address more comments
2024-03-19 16:53:07 +00:00
Cadene
10034e85c4
Aloha done
2024-03-19 16:03:42 +00:00
Alexander Soare
ea17f4ce50
backup wip
2024-03-19 16:02:09 +00:00
Cadene
6a1a29386a
Add replay_buffer directory in pusht datasets + aloha (WIP)
2024-03-19 15:49:45 +00:00
Cadene
b752833f3f
fix download
2024-03-15 13:19:18 +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
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
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
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
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
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
d782b029e1
Add aloha dataset
2024-03-06 10:26:32 +00:00
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
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 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
cbbed590a9
Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)
2024-03-03 13:19:02 +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
Remi Cadene
b5a2f460ea
fix bus error
2024-03-01 14:22:05 +00:00
Simon Alibert
c1942d45d3
Fixes for PR #4
2024-03-01 14:59:05 +01:00
Simon Alibert
b862145e22
Added pusht dataset auto-download
2024-03-01 14:31:54 +01:00
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
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
Simon Alibert
98f8869743
WIP
2024-02-28 10:59:06 +01:00
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
591985c67d
Fix done in pusht, Fix --time in sbatch
2024-02-22 17:58:26 +00:00
Cadene
ece89730e6
Add pusht dataset (TODO verify reward is aligned), Refactor visualize_dataset, Add video_dir, fps, state_dim, action_dim to config (Training works)
2024-02-21 00:49:40 +00:00
Cadene
3da6ffb2cb
Fix unit tests, Refactor, Add pusht env, (TODO pusht replay buffer, image preprocessing)
2024-02-20 12:26:57 +00:00
Cadene
228c045674
Eval reproduced! Train running (but not reproduced)
2024-02-10 15:46:24 +00:00
