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Pepijn
f04958527e
* add initial modeling * make rewind pretrained policy * add annotation * small fix * add sarm * subtasks * fix spawn * fix rewind discrepancies * Add script to generate embedding for dataset (#2138) * Add generate and validate script * fix precommit * Improve generate embeddings function by using dataset tools (#2206) --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> * cleanup * change order train log * print batch size * update sarm processor * add reward output * change expected features * add image validation * change validation * get state input from dataset stats * raise if no state key is found * pass stats * cleanup and refactor * add episode inddex to complementary data * add subtask init and detection * revert lerobot_train changes * pass dataset metadata to policy * change loadig subtasks * add small logging * fix progress conversion and adding initial frame * use large offset for initial frame (ugly) * Remove rewind, use clip tokenizer * add tests, implement formula 1,2 correctly and cleanup * use task from dataset, cleanup visualizer * simplify * simplify and cleanup code and move compute_temporal_proportions to utils * fix normalization in visualization * Fix visualization and change prompt * fix formatting * add visualize subtask annotations * use qwen thinking * try different prompt * format * update prompt * higher temp, long output * different settings * use instruct * show full resp * split message * Temp: increase tolerance dataset * Fix RA-BC (#2572) * Add next observation loading for RA-BC progress deltas * Compute weights based on temporal progress deltas instead of static rewards * Add hard-masking for negative progress deltas in weight computation * Feat/add dual head (#2582) * Add dual dense sparse head and annotation * Add docs * add dual to procesor * cleanup * change sampling in visualize and cleanup * remove validation * remove compile * Feat/test uniform (#2587) * test uniform * add different string for misaligned * Fix rewind and add tests * uncomment text implementation * run precommit * Add head mode for ra-bc * fix visalization of single task * add * return per sample loss * Fix RA_BC (#2602) * update rabc implementation * compute rabc beforehand * fix import * add only progress calulation * use precomputed progress * multi gpu processing * import * fix dataset meta data extraction * add logging * logging * log * progress per episode * split differently * move clip to gpu * pre decode frames for an episode * fix cuda initalization * fix import * multi processing * rename * fix import * fix * fix rabc * use last known progress if oob * use last known progress if oob * add misalignment loss with random embeddings * discard previous changes * add selection of models to docs for ra_bc * add transformers dep * extend tolerance * initial commit with new codebase * add tests * fix * remove temporal sampler * drop last frame for sampler * use original ref * some fixes * fix visualization * remove smoothing and fix order subtasks * add stride rabc computation * add push to hub * add explanation * add kappa expllaination * better rabc logging * feedback pr * remove dataset tolerance * revert dataset tool * revert dataset changes * add credit * run precommit * change path for generate ra_bc * fix type * include sarm in all in pyproject * fix precommit * lazy import matplotlib * lazy import qwen * remove rich console * skip if transformers is not installed? * run only when we have faker * place transformer lazy loading * Dont test if low transformer version * fix * increase transformer * increase as 4.57.0 is yanked * remove pi from all * go back --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>