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Merge real #28

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Merge real #28

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anthonysimeonov
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ankile and others added 30 commits July 15, 2024 17:23
@ankile
Iteration on the relative actions, likely not fully working yet
3ea2121
@anthonysimeonov
run update
a395766
@ankile
Increase exploration noise and make noise constant in RPPO
8402f56
@ankile
Add a couple more conditions to test
93d6379
@ankile
More experiments with more exploration noise
1006ef7
@ankile
Update reference to right furniture bench
3158ede
@anthonysimeonov @ankile
Pull in rppo bug of not properly clearing actions
d2be47a
@anthonysimeonov
fix conflicts
a0b52c2
@ankile
Small fix for better SPS measurement when restarting RPPO runs
5d9193c
@anthonysimeonov
point to correct folder in furniture bench for saving rewards during …
d8ce847 
…demos
@ankile
Merge branch 'main' into real-to-sim
f442a00
@ankile
Merge branch 'real-to-sim' of github.com:ankile/robust-rearrangement …
2f4aff8 
…into real-to-sim
@ankile
Merge pull request #18 from ankile/real-to-sim
75995d5 
Real to sim
@ankile
Update README.md
481b184
@anthonysimeonov
new slurm run files
118a2c6
@anthonysimeonov
small fixes for mlp ppo training
69dea38
@ankile
Some cleanup of rppo code
7213aa0
@ankile
Resolve merge conflict
0c77a96
@ankile
Implement first iteration of relative actions for vision
7ba5290
@ankile
Update README.md
195f6f6
@ankile
Fix bug in relative actions
4576eee
@ankile
Add a GPU id option to RPPO
902ec42
@ankile
Merge branch 'main' of github.com:ankile/robust-rearrangement
9bc204c
@ankile
Add more relative action experiments
7abf8f2
@ankile
Merge branch 'main' into relative-actions
a9d39b6
@ankile
Add Dinov2 and CLIP ViT Vision encoders
9cb5bcf
@ankile
Change some BC training parameters and add clipping and tracking of g…
23a273d 
…radients
@ankile
Merge in main
27a6373
@anthonysimeonov
runs for mug rack
e81e713
@ankile
Add vision encoder files for the new ViTs
d777758
ankile and others added 30 commits October 21, 2024 11:43
@ankile
Implement data conversion script
fde139b
@ankile
BC without rollouts running
d3aebc6
@ankile
Make changes to uproot pytorch3d and reliance on furniture bench
14b0b99
@ankile
MJ single env running and seemingyl working
f1c1b82
@ankile
Fix the gripper action to be the raw unthresholded one
1936cbb
@ankile
Simplify the IK layer
7e6814e
@ankile
Remove stochasticity for debugging
5fcf552
@ankile
Fix gripper width calculation
ddf76be
@ankile
Debugging vec env
01162d1
@ankile
Fix issue with VecEnv, parallel envs running now
440c2fc
@ankile
Residual RL code running for new task
1440feb
Fix visualization issue in bimanual env
af5c9bc
@ankile
Load the init poses in the env init
f31e013
@ankile
Add randomness seeing in bc code for better resuming
158bfbf
@ankile
Merge branch 'main' into bimanual-task
f889a92
@ankile
Run bimanual rppo with more envs
62c8262
@ankile
Merge in a fix in eval model
beb935e
@ankile
Add rate limiter for real time viewing
85aadf6
@ankile
Add logs to gitignore
95a387d
@ankile
Merge branch 'main' into bimanual-task
b0cde00
@ankile
Clean up data storage and processing for dexhub tasks
007ed3a
@ankile
Improve mujoco environment, runs very nicely now
f1132f3
@ankile
Add scaling analysis work
726e851
@ankile
Launch fph dagger run from pre-trained weights
c8be2d2
@ankile
Merge branch 'main' into bimanual-task
3175d85
@ankile
Adapt the mlp ppo and vas bvaselines to work with the new Mujoco env
eb90e97
@ankile
Numerous changes to integrate with baselines and delay before success
ad812ba
@ankile
Merge pull request #34 from ankile/bimanual-task
272f2e3 
Add a Mujoco environment that features a bimanual Franka setup and a simple plate insertion task
@ankile
Update plots
6e35161
@ankile
Merge branch 'main' of github.com:ankile/robust-rearrangement
41c99a0
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@anthonysimeonov @ankile