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71 Commits

Author SHA1 Message Date
Adil Zouitine c58b504a9e [HIL-SERL]Remove overstrict pre-commit modifications (#1028) 2025-04-24 13:48:52 +02:00
pre-commit-ci[bot] 0ea27704f6 [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 15:09:25 +02:00
pre-commit-ci[bot] 1c8daf11fd [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 15:07:46 +02:00
pre-commit-ci[bot] 85fe8a3f4e [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 15:06:51 +02:00
Simon Alibert a1809ad3de Add typos checks (#770) 2025-02-25 23:51:15 +01:00
Simon Alibert c4c2ce04e7 Update pre-commits (#733) 2025-02-15 15:51:17 +01:00
Simon Alibert 90e099b39f Remove offline training, refactor train.py and logging/checkpointing (#670) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-02-11 10:36:06 +01:00
Simon Alibert 3c0a209f9f Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +01:00
Hirokazu Ishida 538455a965 feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-10-30 11:00:05 +01:00
Alexander Soare a60d27b132 Raise ValueError if horizon is incompatible with downsampling (#422) 2024-09-09 17:22:46 +01:00
NielsRogge 86bbd16d43 Improve discoverability on the hub (#325) 
Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-08-19 15:16:46 +02:00
Halvard Bariller 7a3cb1ad34 Adjust the timestamps' description in Diffusion Policy (#343) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-26 12:47:03 +01:00
Alexander Soare abbb1d2367 Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +01:00
Alexander Soare cc2f6e7404 Train diffusion pusht_keypoints (#307) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 12:35:50 +01:00
Jihoon Oh b72d574891 fix Unet global_cond_dim to use state dim, not action dim (#278) 2024-06-17 15:17:28 +01:00
Alexander Soare 15dd682714 Add multi-image support to diffusion policy (#218) 2024-06-17 08:11:20 +01:00
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 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
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
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 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 c015252e20 Remove batch length restrictions in select_action (#123) 2024-05-04 15:33:55 +02:00
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 9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
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
Alexander Soare 2298ddf226 wip 2024-04-17 16:21:37 +01:00
Alexander Soare a9496fde39 revision 1 2024-04-16 17:15:51 +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 6d0a45a97d ready for review 2024-04-12 11:36:52 +01:00
Alexander Soare 5666ec3ec7 backup wip 2024-04-11 18:33:54 +01:00
Alexander Soare 976a197f98 backup wip 2024-04-11 17:51:35 +01:00
Alexander Soare 863f28ffd8 ready for review 2024-04-08 13:10:19 +01:00
Alexander Soare 1e71196fe3 backup wip 2024-04-05 17:38:29 +01:00
Cadene a420714ee4 fix: action_is_pad was missing in compute_loss 2024-04-05 11:33:39 +00:00
Cadene 5af00d0c1e fix train.py, stats, eval.py (training is running) 2024-04-05 09:31:39 +00:00
Cadene 1cdfbc8b52 WIP 
WIP

WIP train.py works, loss going down

WIP eval.py

Fix

WIP (eval running, TODO: verify results reproduced)

Eval works! (testing reproducibility)

WIP

pretrained model pusht reproduces same results as torchrl

pretrained model pusht reproduces same results as torchrl

Remove AbstractPolicy, Move all queues in select_action

WIP test_datasets passed (TODO: re-enable NormalizeTransform)
 2024-04-04 15:31:03 +00:00