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37 Commits

Author SHA1 Message Date
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
AdilZouitine
c85f88fb62 Improve wandb logging and custom step tracking in logger 
- Modify logger to support multiple custom step keys
- Update logging method to handle custom step keys more flexibly

- Enhance logging of optimization step and frequency
Co-authored-by: michel-aractingi  <michel.aractingi@gmail.com>
 2025-04-18 15:04:44 +02:00
Michel Aractingi
aebea08a99 Added support for checkpointing the policy. We can save and load the policy state dict, optimizers state, optimization step and interaction step 
Added functions for converting the replay buffer from and to LeRobotDataset. When we want to save the replay buffer, we convert it first to LeRobotDataset format and save it locally and vice-versa.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:13 +02:00
Michel Aractingi
2ae657f568 FREEDOM, added back the optimization loop code in learner_server.py 
Ran experiment with pushcube env from maniskill. The learning seem to work.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:13 +02:00
Michel Aractingi
508f5d1407 Added server directory in lerobot/scripts that contains scripts and the protobuf message types to split training into two processes, acting and learning. The actor rollouts the policy and collects interaction data while the learner recieves the data, trains the policy and sends the updated parameters to the actor. The two scripts are ran simultaneously 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:13 +02:00
Michel Aractingi
181727c0fe Extend reward classifier for multiple camera views (#626) 2025-04-18 15:03:50 +02:00
Michel Aractingi
4624a836e5 Added normalization schemes and style checks 2025-04-18 15:03:01 +02:00
Eugene Mironov
d78cef1fee Fixup 2025-04-18 15:02:13 +02:00
Yoel
4a7f85a6ec Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-04-18 15:02:13 +02:00
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
Remi
77478d50e5 Refactor record with add_frame (#468) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-16 20:51:35 +02:00
Wael Karkoub
54c9776bde Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
Alexander Soare
e3b9f1c19b Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Simon Alibert
f52f4f2cd2 Add copyrights (#157) 2024-05-15 12:13:09 +02:00
AshisGhosh
fc5cf3d84a Fixes issue #152 - error with creating wandb artifact (#172) 
Co-authored-by: Ashis Ghosh <ahsisghosh@live.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-12 08:13:12 +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
Alexander Soare
26d9a070d8 Add policy and dataset tags to WandB logging (#144) 2024-05-07 09:09:21 +01:00
Alexander Soare
bccee745c3 Refactor eval.py (#127) 2024-05-03 17:33:16 +01:00
Remi
b2cda12f87 Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
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
9d60dce6f3 Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Alexander Soare
4ecfd17f9e fix wandb artifact name and add disable option 2024-03-15 13:56:55 +00:00
Simon Alibert
00fe4f4f18 Configure wandb entity outside config 2024-03-11 13:09:46 +01:00
Remi Cadene
f95ecd66fc Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements 2024-03-06 10:15:57 +00:00
Remi Cadene
cfc304e870 Refactor env queue, Training diffusion works (Still not converging) 2024-03-04 11:00:51 +00:00
Remi Cadene
48ded3dbc7 fix 2024-03-02 18:11:50 +00:00
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
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
ed80db2846 Sanitize cfg.env 2024-02-25 12:02:29 +00:00
Cadene
0eb9b5d1a5 Sanitize cfg.wandb 2024-02-25 11:15:09 +00:00
Cadene
96c53ad06f remove comments 2024-02-22 12:15:14 +00:00
Cadene
e3643d6146 Wandb works, One output dir 2024-02-22 12:14:12 +00:00
Cadene
228c045674 Eval reproduced! Train running (but not reproduced) 2024-02-10 15:46:24 +00:00