Merge real - #28

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anthonysimeonov wants to merge 722 commits into

real-eval-testfrom

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Commits on Jul 17, 2024

Increase exploration noise and make noise constant in RPPO
ankile
committed
8402f56
Add a couple more conditions to test
ankile
committed
93d6379

Commits on Jul 24, 2024

More experiments with more exploration noise
ankile
committed
1006ef7
Update reference to right furniture bench
ankile
committed
3158ede
Pull in rppo bug of not properly clearing actions

anthonysimeonov
authored and
ankile
committed
d2be47a

Commits on Jul 25, 2024

fix conflicts
anthonysimeonov
committed
a0b52c2
Small fix for better SPS measurement when restarting RPPO runs
ankile
committed
5d9193c
point to correct folder in furniture bench for saving rewards during demos
anthonysimeonov
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d8ce847
Merge branch 'main' into real-to-sim
ankile
committed
f442a00
Merge branch 'real-to-sim' of github.com:ankile/robust-rearrangement into real-to-sim
ankile
committed
2f4aff8
Merge pull request #18 from ankile/real-to-sim
ankile
authored
75995d5

Commits on Jul 26, 2024

Update README.md
ankile
authored
481b184
new slurm run files
anthonysimeonov
committed
118a2c6
small fixes for mlp ppo training
anthonysimeonov
committed
69dea38
Some cleanup of rppo code
ankile
committed
7213aa0
Resolve merge conflict
ankile
committed
0c77a96

Commits on Jul 27, 2024

Implement first iteration of relative actions for vision
ankile
committed
7ba5290
Update README.md
ankile
authored
195f6f6

Commits on Jul 28, 2024

Fix bug in relative actions
ankile
committed
4576eee
Add a GPU id option to RPPO
ankile
committed
902ec42
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
9bc204c

Commits on Jul 29, 2024

Add more relative action experiments
ankile
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7abf8f2
Merge branch 'main' into relative-actions
ankile
committed
a9d39b6
Add Dinov2 and CLIP ViT Vision encoders
ankile
committed
9cb5bcf
Change some BC training parameters and add clipping and tracking of gradients
ankile
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23a273d
Merge in main
ankile
committed
27a6373
runs for mug rack
anthonysimeonov
committed
e81e713
Add vision encoder files for the new ViTs
ankile
committed
d777758
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
28fe1c3
Merge branch 'main' into relative-actions
ankile
committed
ecca026

Commits on Jul 30, 2024

Add launch scripts for vit encoders for relative actions
ankile
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a9c6de5
Revert changes to implement relative actions in state-dataset
ankile
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47713fe
Implement better checkpoint book-keeping and loading
ankile
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c783d00
Normalize the the velocity and gripper part of the robot state in relative action mode
ankile
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2cbe938
Add optional masking of proprioceptive pose information
ankile
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4efd239
Add a base actor config yaml
ankile
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51ff066
Merge in main
ankile
committed
c7fe0d5
Merge pull request #19 from ankile/relative-actions
anthonysimeonov
authored
971ef53
reshape tensor to account for possible obs history in relative action mode
anthonysimeonov
committed
b7241b4
Clean up the way we do checkpointing
ankile
committed
1821ace
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
a540120
Small fix of missing variable in bc resume runs
ankile
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5f03ee4
multi gpu with ddp verified on ant local, tbd on cluster (issues with rollouts)
anthonysimeonov
committed
bfe8666

Commits on Jul 31, 2024

Commits on Aug 1, 2024

Updates to experiment runs
ankile
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e1e6df0
Merge in main and resolve merge conflict
ankile
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377bf74
Small fix with module attr mixin
ankile
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4637e31
Clean and slightly improve the ddp bc script
ankile
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d172775
Merge pull request #20 from ankile/multi-gpu-dev
ankile
authored
e9d922d
basic implementation of bc re-fitting during residual ppo
anthonysimeonov
committed
c1034b9

Commits on Aug 2, 2024

Update relative action experiments
ankile
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6e239d2
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
c6e24cb
Small change to the done returned by the rppo env wrapper
ankile
committed
ee8786f

Commits on Aug 6, 2024

Commits on Aug 7, 2024

Update DARPPO code to allow for more control of number gradient steps for base model
ankile
committed
7e1a54f
Fix some small bugs with the DARPPO updated implementation
ankile
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bbd9a86
peg hole bc scripts
anthonysimeonov
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94f2ae7
add factory to list of tasks
anthonysimeonov
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8609c49
update runs
anthonysimeonov
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71fdc04
First rough implementation of DAgger for states implemented
ankile
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c5a4ba5
Add a threshold for when to start doing base BC updates
ankile
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d537767
Merge branch 'main' into state-based-dagger
ankile
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e36eaa6
Fix bug with normalizer on wrong device
ankile
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0cf3cf4
State-based DAgger seems to be working nicely
ankile
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05d7800
Add better way to autmatically requeue premtible job in bc
ankile
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93a7463
Temporarily take out some logging logic that crashed
ankile
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97c4622
Add back in the opportunity to resume dagger jobs
ankile
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980093b
Make sure to step the lr scheduler
ankile
committed
b0a3fa6

Commits on Aug 8, 2024

factory rppo run script
anthonysimeonov
committed
516f57b
updated fph bc runs
anthonysimeonov
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7a7548f
larger exp noise for fph
anthonysimeonov
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bf6d219
Merge branch 'main' into state-based-dagger
ankile
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8ba819d
Dagger experiment runs
ankile
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8830e1c
Make it so when continuing a run, the original config will be used
ankile
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0945181
Merge in main
ankile
committed
b82c0d4
Add cosine scheddule with minimum value and run dagger with beta at extremes for debugging
ankile
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2e73ab3
Merge in main
ankile
committed
2bf0a4b
Updates to dagger training to debug collapse
ankile
committed
dc147db
Merge pull request #24 from ankile/mlp-residual-ppo
anthonysimeonov
authored
018ea6c
Fix resuming bug
ankile
committed
9eeaf50
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
6f59c79

Commits on Aug 11, 2024

Commits on Aug 12, 2024

Fix bug in rollout reward calculation when not storing rollouts
ankile
committed
c635867
Fix bug in episode stats calculation when 0 successes in RPPO
ankile
committed
bafcbbc
update hyperparams for MLP PPO exp and add fph mlp BC run
anthonysimeonov
committed
7b65ae4
add factory_peg_hole to list of tasks in eval
anthonysimeonov
committed
576de26
Add the option to specify no weight in the weight loading function
ankile
committed
3aa645e
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
37bfc2a
Merge in main
ankile
committed
d3726a1
Remove unnecessary path prefix in state scaling configs
ankile
committed
adcd79f
Add real-world demo scaling training runs
ankile
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98f89c9
Add load into memory argument to dataset in normal bc file
ankile
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df6a7f8
Add missing export for env variable in launch script
ankile
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a3b04ca
Add real-world demo scaling experiment to cannon
ankile
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d1dc0d5
Add the final supercloud files for real-world scaling
ankile
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038f36d
trying out beta decay and new dagger run hparams
anthonysimeonov
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0907670
linear decay to start
anthonysimeonov
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317e470
linear decay to start
anthonysimeonov
committed
390bf87
fix
anthonysimeonov
committed
d5ee7aa
fix
anthonysimeonov
committed
2d04db1
fix
anthonysimeonov
committed
00dd5f7
dagger runs
anthonysimeonov
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4f95054
Add demo scaling runs for cannon
ankile
committed
976ce03
Some more experiments
ankile
committed
0bcade9

Commits on Aug 13, 2024

Commits on Aug 14, 2024

Update the sim scaling experiment files
ankile
committed
9cbd8a3

Commits on Aug 15, 2024

hacky solution for image based dagger, WIP to clean up
Anthony Simeonov
committed
987676c
Add separate wamup steps arguments for actor and critic in rppo
ankile
committed
dad2377
fix memory pre-allocation in replay buffer
anthonysimeonov
committed
fe4bf07

Commits on Aug 16, 2024

Merge in main
ankile
committed
9330b69

Commits on Aug 21, 2024

merge conflict
anthonysimeonov
committed
a737d00
fix up dagger (buffer attributes, adjust config to make evaluation easier, logging)
anthonysimeonov
committed
1ee2daf

Commits on Aug 23, 2024

Clean the dagger file somewhat
ankile
committed
55ca993
Merge in from remote
ankile
committed
955de3a
Start adding more vision models and fix naming issue in rppo
ankile
committed
bacabf6
Add cotraining experiment files for confusion and upweighting
ankile
committed
642083a
Add frozen encoders for co-training for curiosity
ankile
committed
618a22b
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
b17f883

Commits on Aug 26, 2024

Commits on Aug 27, 2024

Analyze features of sim and real images
ankile
committed
d3059eb

Commits on Aug 28, 2024

Commits on Sep 1, 2024

Update README.md
ankile
authored
916a4d2

Commits on Sep 7, 2024

Make the repo less furniture-specific
ankile
committed
3d7e691
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
057cf03
Fix a bug in the ddp code with imports in the right order
ankile
committed
9581801

Commits on Sep 8, 2024

Commits on Sep 13, 2024

Commits on Sep 14, 2024

Run more thorough DAgger evals
ankile
committed
a335dd0
Merge in changes from main
ankile
committed
3254695
Merge pull request #21 from ankile/vas
ankile
authored
a39ccb4

Commits on Sep 19, 2024

Make image-dagger improvements
ankile
committed
ebe3ece

Commits on Sep 20, 2024

Clean up obsolete files
ankile
committed
9909406
Update README.md
ankile
authored
8c3c146
Purge the terminology of furniture for task and remove obsolete files
ankile
committed
af3d1f6
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
3b25c06
Update README.md
ankile
authored
fb13d23
Fix an issue with task/furniture naming
ankile
committed
c4d6032
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
892e29d
Fix up in requirements file
ankile
committed
d0f8112

Commits on Sep 24, 2024

Update README.md
ankile
authored
6d26a71

Commits on Sep 26, 2024

Commits on Sep 27, 2024

Commits on Sep 28, 2024

Change camera serial
anthonysimeonov
committed
a8139da

Commits on Sep 30, 2024

Update plots for paper
ankile
committed
40048e4
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
39a9da9

Commits on Oct 2, 2024

Increase LR somewhat for bigger batch
ankile
committed
82d611f
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
7a84175
Change partition and gpu for cannon scripts
ankile
committed
9055df4
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
f969b76
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
a4cea9b
Increase time limit
ankile
committed
9bfcb54
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
837957f
Fix superfluous argument in bc rollout code
ankile
committed
48cc303

Commits on Oct 4, 2024

Add round_table scaling experiment with bigger UNet
ankile
committed
d8ce9d9
Reduce RAM usage for scaling experiments
ankile
committed
e9cd6c5
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
a4ee8dc
Fix spurious debug true
Lars Lien Ankile
committed
0cf078c

Commits on Oct 5, 2024

Continue fph scaling runs
Lars Lien Ankile
committed
0b237ad

Commits on Oct 7, 2024

Update repo to allow for easier running and loading of pre-trained checkpoints
ankile
committed
f5c6c82
Add lamp demo scaling experiments
ankile
committed
6094e13

Commits on Oct 8, 2024

Commits on Oct 17, 2024

Update eval_utils.py
ankile
authored
aac06b0
Update bc.py
ankile
authored
26c1e80
Keep pushing the scaling analyses
ankile
committed
1f993e4
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
033da3a

Commits on Oct 21, 2024

Start converting data formats
ankile
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070cd99
Plot new scaling plots
ankile
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6e371f7
Pushing the fph scaling analyses
ankile
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a8a7982
Implement data conversion script
ankile
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fde139b
BC without rollouts running
ankile
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d3aebc6
Make changes to uproot pytorch3d and reliance on furniture bench
ankile
committed
14b0b99

Commits on Oct 22, 2024

MJ single env running and seemingyl working
ankile
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f1c1b82
Fix the gripper action to be the raw unthresholded one
ankile
committed
1936cbb
Simplify the IK layer
ankile
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7e6814e
Remove stochasticity for debugging
ankile
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5fcf552
Fix gripper width calculation
ankile
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ddf76be
Debugging vec env
ankile
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01162d1
Fix issue with VecEnv, parallel envs running now
ankile
committed
440c2fc

Commits on Oct 23, 2024

Residual RL code running for new task
ankile
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1440feb
Fix visualization issue in bimanual env
Lars Lien Ankile
committed
af5c9bc
Load the init poses in the env init
ankile
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f31e013
Add randomness seeing in bc code for better resuming
ankile
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158bfbf
Merge branch 'main' into bimanual-task
ankile
committed
f889a92

Commits on Oct 24, 2024

Run bimanual rppo with more envs
ankile
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62c8262
Merge in a fix in eval model
ankile
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beb935e
Add rate limiter for real time viewing
ankile
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85aadf6
Add logs to gitignore
ankile
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95a387d
Merge branch 'main' into bimanual-task
ankile
committed
b0cde00

Commits on Oct 25, 2024

Clean up data storage and processing for dexhub tasks
ankile
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007ed3a
Improve mujoco environment, runs very nicely now
ankile
committed
f1132f3

Commits on Oct 28, 2024

Add scaling analysis work
ankile
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726e851
Launch fph dagger run from pre-trained weights
ankile
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c8be2d2
Merge branch 'main' into bimanual-task
ankile
committed
3175d85

Commits on Oct 30, 2024

Adapt the mlp ppo and vas bvaselines to work with the new Mujoco env
ankile
committed
eb90e97

Commits on Nov 13, 2024

Commits on Nov 26, 2024

Update plots
ankile
committed
6e35161
Merge branch 'main' of github.com:ankile/robust-rearrangement
ankile
committed
41c99a0

Commits on Dec 2, 2025