Skip to content
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.

Sign up for GitHub

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

Jump to bottom

EgoMimic Changes #200

Open
wants to merge 50 commits into
base: master
Choose a base branch
from
Open

EgoMimic Changes #200

wants to merge 50 commits into from

Conversation

SimarKareer
Copy link

@SimarKareer SimarKareer commented Oct 18, 2024 •
edited
Loading

General robomimic performance improvements I made while developing EgoMimic. Some improvements include

  • Dino + LORA support
  • Improved observation and action normalization
  • Added some data augmentations
  • "prestacked actions": these actions are preprocessed during data processing stage, and do not need to be stacked during dataloading.
  • "ac_key": the action key is manually specified rather than assuming the key is "actions".

j96w and others added 30 commits September 3, 2023 15:51
@j96w
setup for LIBERO envs
ffe6d3b
@j96w
libero reset from xml
57fd17c
@SimarKareer
crop rand, wandb utils, keep just best ckpts
784f6a0
@Matnay
added dinov2
c420dc7
@Matnay
Added DINOv2 to base nets
dbd8453
@Matnay
added dino with lora adaptation
c199541
@Matnay
reverting change in env_robosuite
643c68d
@Matnay
reverting change in env_robosuite
b9c8395
@Matnay
reverting change in env_robosuite
1c1977d
@Matnay
Merge pull request #1 from SimarKareer/dev/Vit
dd00ec5 
DINOv2+Rein LoRA
@touristCheng
rm env type check
aae4841
@Dhruv2012
dev 2 dataloaders
6a65430
@SimarKareer
increased rdcc nbytes
943856d
@tonyzhaozh @SimarKareer
cherry pick initial act commit
8e5e11a
@snasiriany @SimarKareer
merged second cherrypick
d2f27e6
@SimarKareer
training ACT in Egoplay
f219b66
@SimarKareer
moved act into repo instead of submodule
09f4951
@SimarKareer
training act on robomimic
14beb00
@SimarKareer
merge
20e127c
@Dhruv2012
dev 2 dataloaders - single train script
0ae9c4b
@SimarKareer
Merge pull request #3 from SimarKareer/act
ea7718c 
Act
@SimarKareer
Merge pull request #2 from SimarKareer/dev/2_dataloaders
cb6d738 
dev 2 dataloaders
@SimarKareer
added ac_key to model object
9c7533d
@SimarKareer
Merge branch 'master' of https://github.com/SimarKareer/robomimic
f033b1d
@SimarKareer
moved act from robomimic to eplay
b6d61f9
@SimarKareer
Sequence dataset can now interpolate sequence length for low dim keys
2068768
@SimarKareer
added CropResizeColorRandomizer for color jitter
20e374e
@SimarKareer
Merge pull request #4 from SimarKareer/master
1dde468 
added CropResizeColorRandomizer for color jitter
@SimarKareer
merged and added ac_key support
e3a9163
@SimarKareer
Merge branch 'singlePolicyv2' of https://github.com/SimarKareer/robom…
6de48bd 
…imic into singlePolicyv2
SimarKareer and others added 20 commits June 11, 2024 17:16
@SimarKareer
Merge pull request #5 from SimarKareer/singlePolicyv2
638ba2b 
Single policyv2
@SimarKareer
added ranges for color jitter params
498c995
@SimarKareer
Merge pull request #6 from SimarKareer/singlePolicyv2
00807ca 
added ranges for color jitter params
@SimarKareer
black format
4958d8c
@SimarKareer
integrated dual dataloader ee_pose normalization, tested
652de8d
@SimarKareer
Merge pull request #7 from SimarKareer/dualNorm
6b96158 
integrated dual dataloader ee_pose normalization, tested
@SimarKareer
obs norm takes in ac_key to normalize correct key
014e9b6
@SimarKareer
GMM works with prestacked actions
616e551
@SimarKareer
return patch tokens for ViT instead of linear classifier
691627e
@SimarKareer
removed unintended plt save
5783f01
@rl2aloha
move norm stats to cuda if needed
f0dcd7a
@SimarKareer
normalize actions option
63ac6ce
@SimarKareer
action norm stats
1e01423
@Dhruv2012
unnorm case bug fixed
1dfd46a
@SimarKareer
Merge pull request #8 from SimarKareer/bimanual
10cd231 
unnorm case bug fixed
@SimarKareer
revert black formatting for PR
a05e1d0
@SimarKareer
revert readme changes
d6eed86
@SimarKareer
cleanup unused changes
ffca93b
@SimarKareer
removed seq_length_to_load
16a47f5
@SimarKareer
formatting differences
a70b19a
@SimarKareer SimarKareer marked this pull request as ready for review October 22, 2024 20:58
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
8 participants
@SimarKareer @j96w @Matnay @touristCheng @tonyzhaozh @snasiriany @Dhruv2012 @rl2aloha