-
Notifications
You must be signed in to change notification settings - Fork 237
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
[Feature] Added RGB DP baseline and DrawTriangle/SVG task #876
Merged
+2,049
−301
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Member
StoneT2000
commented
Feb 22, 2025
•
edited
Loading
edited
- Adds in @arnavg115 work on a RGB Diffusion Policy Baseline and cleans the script up and improves documentation around IL in general
- Make DrawTriangle a bit more strict but still solvable
- New and improved FrameStack wrapper that works on both CPU and GPU sims and handles dictionary observations. Seems to be as fast as the gymnasium FrameStack wrapper that uses LazyFrames.
- Removes the old generate.sh file for motionplanning demo generation and moves it with the other data generation scripts. motionplanning runner code for panda updated to run both panda stick and panda gripper solutions.
- Fix bug with to_cpu_tensor not actually moving all tensors to the CPU if input was a dict
- Update FlattenRGBDObservation wrapper to always put depth and rgb data separately by default. There isn't a good reason to put them together as these two modalities will always be have to handled differently regardless due to different normalizations.
…Triangle and Draw SVG task (#643) * Added draw triangle with success condition * parallelized progress * fixed triangle rotation issues * clean up and format * rgbd diffusion policy progress * diff policy rgbd cpu fixes * minor diff policy fixes and finished draw triangle parallelization * Added depth arg to diff pol rgbd + formatting * Removed unused code * Made requested fixes, made bugfix to frame stack wrapper * Edited make_env and frame_stack * Added state obs to draw triangle * Update draw_triangle max steps * Added DrawTriangle Docs * Fixed naming * draw svg progress * fixed most issues and parallelized draw svg * Update draw_svg.py * added success condition and state based obs * Added discontinuous paths for draw svg * formatting, discontinuous state * Updated run.py * fixed state obs error for drawing envs * Changed drawsvg imports * Update draw_svg.py * Update draw_svg.py * Small bugfix * Update draw_svg.py * Update draw_svg.py * Update draw_triangle.py * Bugfixes, speed progress * success condition speed up * small fix * Updated draw_triangle * drawing env gpu bugfixes * diff poll rgbd fixes * minor changes * fix for wandb logging * autobuild docs for DrawTriangle and SVG * Update utils.py to add PushCube * adjustments for rgb * added initial pose for drawing envs * Update draw_triangle.py * adjusted training arguments and shell scripts * StackCube fix
StoneT2000
commented
Feb 25, 2025
for k in self.observation_space.keys() | ||
} | ||
else: | ||
return torch.stack(list(self.frames)).transpose(0, 1) |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
is torch.roll and ring buffer faster here?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.