 Hongyi Zhou
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052abcbf1c
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fix the render_mode in via_point_reacher and hole reacher
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2023-11-22 11:24:23 +01:00 |
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hongyi.zhou
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832102da59
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use self.np_random for all the Quadrant
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2023-09-06 12:56:43 +02:00 |
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hongyi.zhou
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886e1368c1
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add random init flag to all box pushing env
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2023-09-05 10:04:30 +02:00 |
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hongyi.zhou
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025d83e2d3
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add random init options to box pushing
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2023-09-05 10:03:27 +02:00 |
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hongyi.zhou
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d667cd0ff2
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add random initialized box pushing
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2023-09-05 10:00:01 +02:00 |
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hongyi.zhou
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1c9e973bbd
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update .gitignore
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2023-09-05 09:59:02 +02:00 |
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hongyi.zhou
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bd7e811a64
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fix tau bound and init bound bug
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2023-07-03 17:19:41 +02:00 |
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Hongyi Zhou
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02df59a1f5
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disable goal & relative goal & 3basis & scale0.7
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2023-04-10 09:06:43 +02:00 |
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Hongyi Zhou
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96e8d01fb6
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enlarge t0 & T bounds for ProDMP
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2023-04-09 22:17:15 +02:00 |
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Hongyi Zhou
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1ba58bca52
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3 bases & disable relative goal for table tennis
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2023-04-09 20:54:23 +02:00 |
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Hongyi Zhou
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e7694cc11f
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update config
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2023-04-09 16:42:34 +02:00 |
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Hongyi Zhou
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7c66ee2136
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update alpha=5 for prodmp tt
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2023-04-09 16:32:34 +02:00 |
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hongyi.zhou
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ffa8c9bddb
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update weight scaling for bbrl-prodmp tt
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2023-04-06 15:57:39 +02:00 |
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hongyi.zhou
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7f38292937
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add disable goal & relative goal to tt prodmp
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2023-04-06 13:29:43 +02:00 |
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hongyi.zhou
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2add522298
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minor update
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2023-04-06 11:41:55 +02:00 |
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hongyi.zhou
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59af1bbf8a
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minor update
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2023-04-06 11:41:05 +02:00 |
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hongyi.zhou
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89833164dd
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enable autoscale for prodmp
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2023-04-06 09:49:20 +02:00 |
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hongyi.zhou
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56d46c9ffc
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add prodmp for table tennis
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2023-04-06 09:46:55 +02:00 |
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Hongyi Zhou
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b415be4b4d
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update mp_params for box pushing and tt
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2023-03-12 12:27:44 +01:00 |
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hongyi.zhou
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344c11d67a
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updates according to changes request
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2023-01-27 17:50:14 +01:00 |
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hongyi.zhou
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67f684cf14
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Merge branch 'master' into 55-table-tennis-dev
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2023-01-27 14:38:25 +01:00 |
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Hongyi Zhou
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811c5df3d1
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delete debugging codes
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2022-12-01 14:45:13 +01:00 |
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Hongyi Zhou
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ca8787f449
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minor updates
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2022-12-01 14:34:53 +01:00 |
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Hongyi Zhou
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a1d660d7ae
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Merge branch 'tt_cluster_debug' into 55-table-tennis-dev
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
# fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
# fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
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2022-12-01 14:25:22 +01:00 |
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Hongyi Zhou
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5750f6eb3d
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add replan name tag to replan envs & delete redundant settings
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2022-12-01 14:23:57 +01:00 |
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Hongyi Zhou
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5744d339ac
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change time limits for tt to 350
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2022-12-01 14:04:11 +01:00 |
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Hongyi Zhou
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fa9a35d470
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fix typos
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2022-12-01 13:33:24 +01:00 |
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Hongyi Zhou
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fe2d8fec91
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delete unused argument
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2022-12-01 13:22:45 +01:00 |
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Hongyi Zhou
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55df1e0ef6
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fix minor bug
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2022-12-01 13:16:37 +01:00 |
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Hongyi Zhou
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a9a1d05497
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merge master into table-tennis-dev branch
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2022-12-01 11:46:09 +01:00 |
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Hongyi Zhou
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3a502ce831
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Merge branch 'master' into tt_cluster_debug
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
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2022-12-01 11:35:38 +01:00 |
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Hongyi Zhou
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f376772c22
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add invalid trajectory callback & invalid traj return & register all 3 variantes of table tennis tasks
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2022-12-01 11:28:03 +01:00 |
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Hongyi Zhou
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e7d2454e30
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make if condition better
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2022-11-28 10:49:05 +01:00 |
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Hongyi Zhou
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bb94c9c707
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typos
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2022-11-27 01:26:18 +01:00 |
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Hongyi Zhou
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bf0de5f54d
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set boundary condition to None at reset() & end replanning if env is done
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2022-11-27 01:25:31 +01:00 |
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Hongyi Zhou
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28aa430fd2
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fix minor bugs
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2022-11-25 22:38:21 +01:00 |
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Hongyi Zhou
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2735e0bf24
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add contextual obs option to invalid trajectory callback
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2022-11-25 22:34:46 +01:00 |
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Hongyi Zhou
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c242c32a41
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Merge branch 'master' into tt_cluster_debug
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
# fancy_gym/envs/__init__.py
# fancy_gym/examples/examples_movement_primitives.py
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2022-11-25 17:16:26 +01:00 |
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Hongyi Zhou
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833f0735ea
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delete import torch in black box wrapper
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2022-11-25 13:31:05 +01:00 |
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Hongyi Zhou
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b883ad63b7
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using artifical wind field
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2022-11-24 16:50:57 +01:00 |
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Hongyi Zhou
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96f17e02cf
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random sampling for goal switching & adjust height for initial ball state
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2022-11-24 14:15:09 +01:00 |
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Hongyi Zhou
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f47f00a292
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updates && disable auto_scale_basis for table tennis
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2022-11-23 17:02:04 +01:00 |
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Hongyi Zhou
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a219f90d72
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shorter duration
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2022-11-22 11:13:08 +01:00 |
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Hongyi Zhou
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be1a9bd67e
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update bc
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2022-11-22 10:46:39 +01:00 |
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Hongyi Zhou
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7e71e70861
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updates for debug
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2022-11-22 10:32:51 +01:00 |
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Hongyi Zhou
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a9ad1b5287
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minor update: create local variables for current pos/vel
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2022-11-21 10:17:56 +01:00 |
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Hongyi Zhou
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9539ba1424
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fix some typos
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2022-11-20 22:00:02 +01:00 |
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Hongyi Zhou
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2674bf80fe
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update according to reviews opinion & fix bugs in box pushing IK
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2022-11-20 21:56:32 +01:00 |
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Hongyi Zhou
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4a850912be
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fix bug in box pushing IK
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2022-11-19 14:54:54 +01:00 |
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Hongyi Zhou
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e3d36dead0
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updates
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2022-11-17 11:19:23 +01:00 |
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Hongyi Zhou
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d4e844ac45
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goal switching
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2022-11-16 19:45:58 +01:00 |
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Hongyi Zhou
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f9c0c1f3ab
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add plot for wind influence testing
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2022-11-15 23:38:50 +01:00 |
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Hongyi Zhou
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7ba490f14a
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disable air density & viscosity
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2022-11-15 14:07:16 +01:00 |
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Hongyi Zhou
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f6128460ed
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update with current settings
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2022-11-15 11:37:25 +01:00 |
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Hongyi Zhou
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fc3051bf57
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minor updates
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2022-11-14 17:48:15 +01:00 |
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Hongyi Zhou
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be14b21fff
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update test suite for replanning envs
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2022-11-14 17:39:46 +01:00 |
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Hongyi Zhou
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7e3ec7a2ef
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set default max_planning_times to None
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2022-11-13 17:59:12 +01:00 |
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Hongyi Zhou
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104b909296
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delete hacky experimental codes & add tests to test_black_box
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2022-11-13 16:59:13 +01:00 |
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Hongyi Zhou
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b482c1bd89
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add ball velocity into observation space
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2022-11-13 15:27:29 +01:00 |
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Hongyi Zhou
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dc524da049
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update enable winds to __init__
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2022-11-12 10:41:09 +01:00 |
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Hongyi Zhou
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87633a89fb
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add enable_wind option to table tennis environment
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2022-11-11 23:41:35 +01:00 |
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Hongyi Zhou
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b1581634e0
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enable max planning times flag
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2022-11-09 21:23:35 +01:00 |
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Hongyi Zhou
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60e18d2964
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add prodmp to test_black_box
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2022-11-09 17:54:34 +01:00 |
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Hongyi Zhou
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ffe48dfb57
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change back infos to default setting
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2022-11-09 12:49:17 +01:00 |
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Hongyi Zhou
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99a514026f
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table tennis 4D replanning works git add .git add .
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2022-11-09 10:42:36 +01:00 |
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Hongyi Zhou
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b9c2348855
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check time validity before pos validity
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2022-11-08 13:57:32 +01:00 |
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Hongyi Zhou
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d384e6e764
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temporal updates
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2022-11-08 10:15:43 +01:00 |
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Hongyi Zhou
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2a39a72af0
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update promp's config
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2022-11-06 23:42:55 +01:00 |
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Hongyi Zhou
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7d16b420c1
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add tau, delay bound and update context range
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2022-11-05 15:56:59 +01:00 |
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Hongyi Zhou
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6193f87fe7
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4d table tennis
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2022-11-05 14:26:14 +01:00 |
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Hongyi Zhou
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5a547d85f9
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updates
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2022-11-04 21:22:32 +01:00 |
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Hongyi Zhou
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7b2451d317
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updates
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2022-11-02 23:00:20 +01:00 |
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Hongyi Zhou
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a6cca617e1
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add table tennis environment with new mujoco binding
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2022-11-02 18:18:27 +01:00 |
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Hongyi Zhou
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fd4f9ae0bc
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add tests for replanning env & adapt observation space for box pushing & add max_planning_times to replanning tasks
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2022-11-01 22:51:43 +01:00 |
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Hongyi Zhou
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4f9b1fad25
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learn goal with auto scale basis
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2022-10-31 22:37:13 +01:00 |
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Hongyi Zhou
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83eb8f7f64
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use auto scale basis
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2022-10-31 16:33:47 +01:00 |
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Hongyi Zhou
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cd2b679e9b
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use observation mask for replanning
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2022-10-31 13:52:40 +01:00 |
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Hongyi Zhou
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61c1b76e29
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use auto scaling feature of MP_Pytorch
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2022-10-31 13:18:05 +01:00 |
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Hongyi Zhou
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524bbf352e
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delete the replanning times counter
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2022-10-27 02:01:51 +02:00 |
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Hongyi Zhou
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288ebedd50
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learn only basis weight
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2022-10-26 22:54:35 +02:00 |
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Hongyi Zhou
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e49d1563fe
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hacky codes, only learn the weight basis params
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2022-10-26 22:46:53 +02:00 |
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Hongyi Zhou
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be6137ec81
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updates
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2022-10-26 15:18:37 +02:00 |
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Hongyi Zhou
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a8ffa791b8
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change mp configs for box pushing & add joint states to observation
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2022-10-26 14:04:53 +02:00 |
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Hongyi Zhou
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4d67bfdaa7
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use current pos as condition
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2022-10-26 11:11:52 +02:00 |
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Hongyi Zhou
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a1d96e6016
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use desired point as boundary condition
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2022-10-25 22:15:30 +02:00 |
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Hongyi Zhou
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556bfd0b35
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add weights scaling for box pushing replanning
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2022-10-25 20:10:59 +02:00 |
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Hongyi Zhou
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c457fbbfeb
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fix minor bugs & merge test branch
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2022-10-24 22:01:56 +02:00 |
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Hongyi Zhou
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e3509f8be3
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Merge remote-tracking branch 'alr/master' into mujoco_binding
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
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2022-10-24 09:53:41 +02:00 |
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Hongyi Zhou
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bdd51ba61f
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modified according to comments
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2022-10-14 16:50:57 +02:00 |
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Hongyi Zhou
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1fd4a1e848
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resample the context if target is too near to the start position
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2022-10-13 14:58:28 +02:00 |
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Hongyi Zhou
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eec171e04a
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prodmp box pushing works
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2022-10-13 11:23:38 +02:00 |
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Hongyi Zhou
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187c5f5bb2
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add ProDMP to register
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2022-10-13 10:57:00 +02:00 |
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Hongyi Zhou
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ad8201ea67
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update infos of box pushing envs
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2022-10-12 16:45:13 +02:00 |
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Hongyi Zhou
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38e8958ebd
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box pushing working with mujoco binding
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2022-10-11 18:16:25 +02:00 |
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Hongyi Zhou
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5bfce45d9d
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box pushing with mujoco binding
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2022-10-11 18:08:12 +02:00 |
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