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* new branch * mocap data * update * update * remove unused import * update amp buffer proto * fmt * add assert warning for not specifying buffer path * recursive deserialize * | None => optional * okokok * unify disc loss class * annotations * amp proto * launch and gitignore * manually run black foramtting * clean up and merge parameters * pio proto fixes * gitignore * Provide artifact root location to protocols (#104) * update PR template (#106) * check multiple older commits for coverage data (#107) This fixes the race where CI fails if someone merged to main very recently. * compare against merge base instead of origin/main (#109) I noticed that sometimes the comparison is off if a branch is out-of-date with main. If `main` has increased (relative to `merge-base`) it'll look like the current branch has removed that. Inversely, if `main` has decreased coverage that will be "given" to this branch where that coverage hasn't yet been removed. * Reduce compile times for sandboxed Python (#108) * remove --with-optimizations when compiling Python * also thin lto * dont run disc optim if style weight is zero (optimization) * disabling a bunch of stuff to test perf hypothesis * wrong place for changes * test perf hypothesis * use new storage emote cl * update emote * bufixes and parity * fmt fix * perf optim * upd emote * allow rolllout length > 1 * more logging * rm use_terminal * bullcrab anim * fmt json * LF file ending * fix max mem size * add test ensuring table siz * conf print bugfix * fix obs, simplify proto * use generic agent proxy, hardcode state spaces * add lerp data augmentor, update proto to use it * it is a tuple! * bugfix! incorrect checkpoint load loc * generalize proto a bit for multiple anim datasets * new emote * turn in place buffers * fmt * update emote * require user to specify anim datasets * upload idle pose and run anim data * sigh * anim variants with root orientation * dont make prior feature ranges optional, messes up parsing * dont require an output file name, just generate it. * run with root orienation obs * add run anim with root orientation * CE loss * fix typo * add missing sigmoid * restructure a bit * updated anim data * bugfix * work in progress * lin vel obs data * work in progres * fixing minor issues * fixing formatting * minor bug fixed * pio amp test conf * support dropout in amp disc * remove old code * removing stop from the patterns * resaved anim data * allow discriminator to sample from more recent data * freeze disc test * fix missing param * fmt * (freeze) flip incorrect sign cmp! * wip * work in progress * no root forward anim data * implementing AMP for action symmetry * fixing flake * fixing a failing test * new animations * remove redundant init fns * merge grad loss code into base class, wasserstein * use creation fn for disc loss and style r injector * readd missing standard walk * test noising prior samples * rm noise param from default conf * rm unused import (nosie) * fixing a bug in discriminator loss * fixing reward * speculative grad pen change * convert to tensor (noise) * new anims (axis angle ang vel) * wip ensemble (wont build) * initial code for ensembling * reorder * mini cleanup (ensemble) * fmt fix (ensemble) * add ensemble proto to engine * remove unused task mapping (ensemble) * add missing datagroup * whops dont add loss array (ensemble) * iter over items (ensemble) * use correct data group for r injector (ensemble) * fix incorrect one hot access * fixed a bunch of issues (ensemble) * fix incorrect reward fn * remove unused logging info * use style repeat amount * fix missing type specifier for amp_bp_step_log_interval * fix empty style * fix incorrect batch size use (ensemble) * idle pose axis angle anim * turn anims * update broken anim * contact state anims * Add Support for Running Gym on Hive (#127) * Non hive gym to erupt_gym_gym * Fmt * move * wip * Wip * Entrypoint * wip * wip * wip * Wip * Entrypoint * checkpoint * Checkpoint * Entrypoint * Wip * wip * wip * Wip * wip * wip * Passes * wip * wip * wip * wip * wip * checkpoint * Wip * wip * wip * works * wip * wip * wip * wip * Re-add old hive engine * checkpoint * Entrypoint * temp * Make onnx exporter work by giving policy an epsilon * Should work now * import both * Remove comment * Batch infer on observation groups * Add imports * Add proper HiveGymEngine path * Rename hive_mlp to mlp * Move parameters to config * Use FinalRewardTestCheck on AlphaLoss instead of manually checking rewards * Proper parsing of epsilon * fmt * Fmt 2 * Simplify basalt and prepare for adding v2 (#131) * fixup nightly launch script (#134) * split v1/v2 basalt (#135) * dist to ground anim data * rename anim * more anims * wip * amp implemented * amp protocol being implmeneted * updating tests * loading mocap from gs when needed * fixing a minor issue * some updates * adding the possibility to change entropy eps * adding the possibility to change entropy eps * amp2 * deleting unused stuff * updating amp action mirror * updating amp and amp2 * updating entropy schedule * fixing sac path * fixing a minor bug * fixing schedule * work in progress * some fixes * work in progress * work in progress * work in progress * overwrite velocities added * fixing a bug * fixing dimension of mocap observations * adding amp_bc protocol * fixing a minor bug * fixing a minor bug * fixing some bugs * polishing some files * work in progress * deleting animfiles * deleting extra files * fixing some files * fixing some tests * updating amp protocol and adding amp test * updating the memory loader * work in progress - fixing amp symmetric action protocol * updating amp action symmetry * fixing formatting * flake issue * updating locks * fixing minor issues with the amp action symmetry protocol --------- Co-authored-by: klas.henriksson <[email protected]> Co-authored-by: Tom Solberg <[email protected]> Co-authored-by: klashenriksson <[email protected]> Co-authored-by: luc <[email protected]> Co-authored-by: Tom Solberg <[email protected]>
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