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Rename deprecated argument (temporal_ensemble_momentum) #490

Merged
merged 1 commit into from
Nov 25, 2024
Merged

Rename deprecated argument (temporal_ensemble_momentum) #490

merged 1 commit into from
Nov 25, 2024

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KasparSLT
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@KasparSLT KasparSLT commented Oct 27, 2024 •
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What this does

Title Label
Fixes #[issue] (🐛 Bug)

Renamed deprecated argument in Hydra config files to match torch implementation.
Should have been fixed here #319 (where act config was changed)

How it was tested

Renamed argument and checked that training converges with policy act_so100_real on own dataset.

How to checkout & try? (for the reviewer)

DATA_DIR=data python lerobot/scripts/train.py \
  dataset_repo_id=${HF_USER}/so100_test \
  policy=act_so100_real \
  env=so100_real \
  hydra.run.dir=outputs/train/act_so100_test \
  hydra.job.name=act_so100_test \
  device=cuda \
  wandb.enable=true
python lerobot/scripts/control_robot.py record \
  --robot-path lerobot/configs/robot/so100.yaml \
  --fps 30 \
  --root data \
  --repo-id ${HF_USER}/eval_act_so100_test \
  --tags so100 tutorial eval \
  --warmup-time-s 5 \
  --episode-time-s 40 \
  --reset-time-s 10 \
  --num-episodes 10 \
  -p outputs/train/act_so100_test/checkpoints/last/pretrained_model

Cadene
Cadene approved these changes Nov 22, 2024
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Thanks

@Cadene Cadene merged commit 96c7052 into huggingface:main Nov 25, 2024
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DomThePorcupine pushed a commit to DomThePorcupine/lerobot that referenced this pull request Dec 2, 2024
@KasparSLT @DomThePorcupine
Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490
040f0bd 
)
villekuosmanen added a commit to villekuosmanen/lerobot that referenced this pull request Dec 30, 2024
@villekuosmanen @HiroIshida
@alexander-soare @ohharsen @ivelin @brainwavecoder9 @resolver101757 @J4nn1K @KasparSLT @aliberts @Cadene @michel-aractingi @ma3oun @Raziel90 @s1lent4gnt @mishig25 @helper2424
chore: sync fork with upstream (#3)
913bcab 
* feat: enable to use multiple rgb encoders per camera in diffusion policy (huggingface#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

* Fix config file (huggingface#495)

* fix: broken images and a few minor typos in README (huggingface#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

* Add support for Windows (huggingface#494)

* bug causes error uploading to huggingface, unicode issue on windows. (huggingface#450)

* Add distinction between two unallowed cases in name check "eval_" (huggingface#489)

* Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490)

* Dataset v2.0 (huggingface#461)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Refactor OpenX (huggingface#505)

* Fix missing local_files_only in record/replay (huggingface#540)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

* Control simulated robot with real leader (huggingface#514)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Update 7_get_started_with_real_robot.md (huggingface#559)

* LerobotDataset pushable to HF from any folder (huggingface#563)

* Fix example 6 (huggingface#572)

* fixing typo from 'teloperation' to 'teleoperation' (huggingface#566)

* [vizualizer] for LeRobodDataset V2 (huggingface#576)

* Fix broken `create_lerobot_dataset_card`  (huggingface#590)

* feat(act): support training end of episode token to ACT model

* changes

* feat(arx): add arx arm (#2)

* feat(arx): support arx arm

* changes

* changes

* changes

* changes

* pass pipes explicitly

* changes

* us ndarray over a pipe

* changes

* changes

* replay basically works

* patch arx sdk

* changes

* support cameras in arx5

* rename to arx5

* kind of works

* changes

* changes

* changes

* various changes

* changes

* revert a few changes

* changes

* changes

* changes

* changes

* changes

* changes

* changes

* changes

* changes

* remove TODO

* allow multiple tasks

---------

Signed-off-by: ivelin <ivelin117@gmail.com>
Co-authored-by: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Arsen Ohanyan <arsenohanyan@gmail.com>
Co-authored-by: Ivelin Ivanov <ivelin117@gmail.com>
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: KasparSLT <133706781+KasparSLT@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: berjaoui <berjaoui@gmail.com>
Co-authored-by: Claudio Coppola <Claudiocoppola90@gmail.com>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Mishig <dmishig@gmail.com>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
villekuosmanen added a commit to villekuosmanen/lerobot that referenced this pull request Jan 10, 2025
@villekuosmanen @HiroIshida
@alexander-soare @ohharsen @ivelin @brainwavecoder9 @resolver101757 @J4nn1K @KasparSLT @aliberts @Cadene @michel-aractingi @ma3oun @Raziel90 @s1lent4gnt @mishig25 @helper2424 @CharlesCNorton @philfung
feat: sync upstream changes (#4)
9e38286 
* feat: enable to use multiple rgb encoders per camera in diffusion policy (huggingface#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

* Fix config file (huggingface#495)

* fix: broken images and a few minor typos in README (huggingface#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

* Add support for Windows (huggingface#494)

* bug causes error uploading to huggingface, unicode issue on windows. (huggingface#450)

* Add distinction between two unallowed cases in name check "eval_" (huggingface#489)

* Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490)

* Dataset v2.0 (huggingface#461)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Refactor OpenX (huggingface#505)

* Fix missing local_files_only in record/replay (huggingface#540)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

* Control simulated robot with real leader (huggingface#514)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Update 7_get_started_with_real_robot.md (huggingface#559)

* LerobotDataset pushable to HF from any folder (huggingface#563)

* Fix example 6 (huggingface#572)

* fixing typo from 'teloperation' to 'teleoperation' (huggingface#566)

* [vizualizer] for LeRobodDataset V2 (huggingface#576)

* Fix broken `create_lerobot_dataset_card`  (huggingface#590)

* Update README.md (huggingface#612)

* Fix Quality workflow (huggingface#622)

* fix(docs): typos in benchmark readme.md (huggingface#614)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* fix(visualise): use correct language description for each episode id (huggingface#604)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* typo fix: batch_convert_dataset_v1_to_v2.py (huggingface#615)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* [viz] Fixes & updates to html visualizer (huggingface#617)

* fixes to SO-100 readme (huggingface#600)

Co-authored-by: Philip Fung <no@one>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

---------

Signed-off-by: ivelin <ivelin117@gmail.com>
Co-authored-by: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Arsen Ohanyan <arsenohanyan@gmail.com>
Co-authored-by: Ivelin Ivanov <ivelin117@gmail.com>
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: KasparSLT <133706781+KasparSLT@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: berjaoui <berjaoui@gmail.com>
Co-authored-by: Claudio Coppola <Claudiocoppola90@gmail.com>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Mishig <dmishig@gmail.com>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
Co-authored-by: CharlesCNorton <135471798+CharlesCNorton@users.noreply.github.com>
Co-authored-by: Philip Fung <1054593+philfung@users.noreply.github.com>
Co-authored-by: Philip Fung <no@one>
menhguin pushed a commit to menhguin/lerobot that referenced this pull request Feb 9, 2025
@KasparSLT
Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490
0cab4aa 
)
aliberts pushed a commit that referenced this pull request Feb 9, 2025
@Cadene @aliberts
Fix autocalib moss (#486)
5ceb342 
[Fix] Move back to manual calibration (#488)

feat: enable to use multiple rgb encoders per camera in diffusion policy (#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Fix config file (#495)

fix: broken images and a few minor typos in README (#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

Add support for Windows (#494)

bug causes error uploading to huggingface, unicode issue on windows. (#450)

Add distinction between two unallowed cases in name check "eval_" (#489)

WIP

Fix autocalib moss (#486)

[Fix] Move back to manual calibration (#488)

feat: enable to use multiple rgb encoders per camera in diffusion policy (#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Fix config file (#495)

fix: broken images and a few minor typos in README (#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

Add support for Windows (#494)

bug causes error uploading to huggingface, unicode issue on windows. (#450)

Add distinction between two unallowed cases in name check "eval_" (#489)

Rename deprecated argument (temporal_ensemble_momentum) (#490)

Dataset v2.0 (#461)

Co-authored-by: Remi <remi.cadene@huggingface.co>

Refactor OpenX (#505)

Fix missing local_files_only in record/replay (#540)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

Control simulated robot with real leader (#514)

Co-authored-by: Remi <remi.cadene@huggingface.co>

Update 7_get_started_with_real_robot.md (#559)

LerobotDataset pushable to HF from any folder (#563)

Fix example 6 (#572)

fixing typo from 'teloperation' to 'teleoperation' (#566)

[vizualizer] for LeRobodDataset V2 (#576)

Fix broken `create_lerobot_dataset_card`  (#590)

Update README.md (#612)

Add draccus, create MainConfig

WIP refactor train.py and ACT

Add policies training presets

Update diffusion policy

Add pusht and xarm env configs

Update tdmpc

Update vqbet

Fix poetry relax

Add feature types to envs

Add EvalPipelineConfig, parse features from envs

Add custom parser

Update pretrained loading mechanisms

Add dependency fixes & lock update

Fix pretrained_path

Refactor envs, remove RealEnv

Fix typo

Enable end-to-end tests

Fix Makefile

Log eval config

Fix end-to-end tests

Fix Quality workflow (#622)

Remove amp & add resume test

Speed-up tests

Fix poetry relax

Remove config yaml for robot devices (#594)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

fix(docs): typos in benchmark readme.md (#614)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

fix(visualise): use correct language description for each episode id (#604)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

typo fix: batch_convert_dataset_v1_to_v2.py (#615)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

[viz] Fixes & updates to html visualizer (#617)

Fix logger

Remove hydra-core

Add aggregate_stats

Add estimate_num_samples for images, Add test image

Remove NoneSchedulerConfig

Add push_pretrained

Remove eval.episode_length

Fix wandb_video

Fix typo

Add features back into policy configs (#643)

fixes to SO-100 readme (#600)

Co-authored-by: Philip Fung <no@one>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Fix for the issue #638 (#639)

Fix env_to_policy_features call

Fix wandb init

remove omegaconf

Add branch arg

Move deprecated

Move training config

Remove pathable_args

Implement custom HubMixin

Fixes

Implement PreTrainedPolicy base class

Add HubMixin to TrainPipelineConfig

Udpate example 2 & 3

Update push_pretrained

Bump`rerun-sdk` dependency to `0.21.0` (#618)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Fix config_class

Fix from_pretrained kwargs

Remove policy_protocol

Camelize PretrainedConfig

Additional fix while retraining policies (#629)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

Actually reactivate tdmpc online test

Update example 4

Remove advanced example 1

Remove example 5

Move example 6 to advanced

Use HubMixin.save_pretrained

Enable config_path to be a repo_id

Dry has_method

Update example 4

Update README

Cleanup pyproject.toml

Update eval docstring

Update README

Clean example 4

Update README

Make 'last' checkpoint symlink relative

Fix cluster image (#653)

Simplify example 4

fix stats per episodes and aggregate stats and casting to tensor
JIy3AHKO pushed a commit to vertix/lerobot that referenced this pull request Feb 27, 2025
@KasparSLT @JIy3AHKO
Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490
1568b6d 
)
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@Cadene Cadene Cadene approved these changes

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@KasparSLT @Cadene