98c2152f08
Fixup eval with real robot
2025-11-15 00:09:01 +07:00
f92999aeb9
fixup! Fix PI0.5 RTC tests to use quantile stats (q01, q99) for normalization
2025-11-15 00:09:01 +07:00
5659c77988
Fix PI0.5 RTC tests to use quantile stats (q01, q99) for normalization
...
🤖 Generated with [Claude Code](https://claude.com/claude-code )
Co-Authored-By: Claude <noreply@anthropic.com >
2025-11-15 00:09:01 +07:00
fd88a3acda
Fix SmolVLA init_rtc_processor to use getattr instead of direct model access
...
🤖 Generated with [Claude Code](https://claude.com/claude-code )
Co-Authored-By: Claude <noreply@anthropic.com >
2025-11-15 00:09:01 +07:00
6deabe4b71
Fix PI0.5 init_rtc_processor to use getattr instead of direct model access
...
🤖 Generated with [Claude Code](https://claude.com/claude-code )
Co-Authored-By: Claude <noreply@anthropic.com >
2025-11-15 00:09:01 +07:00
2f3525c4a2
Add RTC initialization tests without config for PI0.5 and SmolVLA
...
Add test_pi05_rtc_initialization_without_rtc_config and
test_smolvla_rtc_initialization_without_rtc_config to verify that
policies can initialize without RTC config and that _rtc_enabled()
returns False in this case.
🤖 Generated with [Claude Code](https://claude.com/claude-code )
Co-Authored-By: Claude <noreply@anthropic.com >
2025-11-15 00:09:01 +07:00
d04061def7
fixup! fixup! Fix test to use _rtc_enabled() instead of is_rtc_enabled()
2025-11-15 00:09:01 +07:00
07ee578c78
fixup! Fix test to use _rtc_enabled() instead of is_rtc_enabled()
2025-11-15 00:09:01 +07:00
636e2264c3
Fix test to use _rtc_enabled() instead of is_rtc_enabled()
...
🤖 Generated with [Claude Code](https://claude.com/claude-code )
Co-Authored-By: Claude <noreply@anthropic.com >
2025-11-15 00:09:01 +07:00
5a4c168d92
fixup! Add one more test
2025-11-15 00:09:01 +07:00
047f89cc2a
Add one more test
2025-11-15 00:09:01 +07:00
4d64733846
fixup! fixup! Add tests for flow matching models with RTC
2025-11-15 00:09:01 +07:00
0c3ed6ca7a
fixup! Add tests for flow matching models with RTC
2025-11-15 00:09:01 +07:00
44322fa726
Add tests for flow matching models with RTC
2025-11-15 00:09:01 +07:00
e041634bee
Add tests for modeling_rtc
2025-11-15 00:09:01 +07:00
6b6c0623cc
Fix tests
2025-11-15 00:09:01 +07:00
6db3afca6f
Silent validation
2025-11-15 00:09:01 +07:00
433ccc9603
Update README
2025-11-15 00:09:01 +07:00
9e92337f24
Add validatio at the end
2025-11-15 00:09:01 +07:00
99eea2ae03
Add more tests
2025-11-15 00:09:01 +07:00
ac33f20e51
Small fixes
2025-11-15 00:09:01 +07:00
ab0a9c3d7a
Add workable flow
2025-11-15 00:09:01 +07:00
9616c44024
fixup! fixup! fixup! fixup! fixup! Turn off compilation for pi0/pi05
2025-11-15 00:09:01 +07:00
60b432b0f1
fixup! fixup! fixup! fixup! Turn off compilation for pi0/pi05
2025-11-15 00:09:01 +07:00
513e6c0046
fixup! fixup! fixup! Turn off compilation for pi0/pi05
2025-11-15 00:09:01 +07:00
60362b9c7c
fixup! fixup! Turn off compilation for pi0/pi05
2025-11-15 00:09:01 +07:00
5915649eac
fixup! Turn off compilation for pi0/pi05
2025-11-15 00:09:01 +07:00
675880392d
Turn off compilation for pi0/pi05
2025-11-15 00:09:01 +07:00
d0123c4178
fixup! Pi0 eval dataset
2025-11-15 00:09:01 +07:00
e86afc883e
Pi0 eval dataset
2025-11-15 00:09:01 +07:00
d10b7787eb
Pi0
2025-11-15 00:09:01 +07:00
ac1816ee9c
Add RTC to PI0
2025-11-15 00:09:01 +07:00
25fb16ea7a
Fix compilation
2025-11-15 00:09:01 +07:00
7baf909e32
Debug
2025-11-15 00:09:01 +07:00
79ffe316e4
Experiemnt with late detach
2025-11-15 00:09:01 +07:00
68b2142bd2
fixup! Add matplotliv to dev
2025-11-15 00:09:01 +07:00
a42fb4d0e2
Add matplotliv to dev
2025-11-15 00:09:01 +07:00
83f1de035e
delete policies
2025-11-15 00:09:01 +07:00
e09a6a90e1
Add torch compilation for eval_dataset
2025-11-15 00:09:01 +07:00
10cc9dd961
Drop not required methods
2025-11-15 00:09:01 +07:00
41b8d4b7c6
Fix tests
2025-11-15 00:09:01 +07:00
7939fc3ddf
Add tests for tracker
2025-11-15 00:09:01 +07:00
11b35dfa11
Right kwargs for the policy
2025-11-15 00:09:01 +07:00
b27570039c
Fix traacking
2025-11-15 00:09:01 +07:00
55c4cc1b27
fixup! fixup! fixup! Improve visualization: separate correction plot and fix axis scaling
2025-11-15 00:09:01 +07:00
3fb3edde3f
fixup! fixup! Improve visualization: separate correction plot and fix axis scaling
2025-11-15 00:09:01 +07:00
43bf1fb763
fixup! Improve visualization: separate correction plot and fix axis scaling
2025-11-15 00:09:01 +07:00
c7a26f5070
Improve visualization: separate correction plot and fix axis scaling
...
Changes:
- Create separate figure for correction data instead of overlaying on v_t
- Add _rescale_axes helper method to properly scale all axes
- Add 10% margin to y-axis for better visualization
- Fix v_t chart vertical compression issue
Benefits:
- Clearer v_t plot without correction overlay
- Better axis scaling with proper margins
- Separate correction figure for focused analysis
- Improved readability of all denoising visualizations
Output files:
- denoising_xt_comparison.png (x_t trajectories)
- denoising_vt_comparison.png (v_t velocity - now cleaner)
- denoising_correction_comparison.png (NEW - separate corrections)
- denoising_x1t_comparison.png (x1_t state with error)
🤖 Generated with [Claude Code](https://claude.com/claude-code )
Co-Authored-By: Claude <noreply@anthropic.com >
Co-Authored-By: Alexander Soare <alexander.soare159@gmail.com >
2025-11-15 00:09:01 +07:00
aaa308b158
fixup! Refactor plotting loging
2025-11-15 00:09:01 +07:00
84df6cd13d
Refactor plotting loging
2025-11-15 00:09:01 +07:00
Eugene Mironov