ebuehrle
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bcddf422f0
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Move files to src
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2021-10-26 17:41:05 +02:00 |
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Arec
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06785236d4
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fixing expert data combiner and adding feasibility checking with all options to util.collisions
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2021-10-21 06:59:21 -07:00 |
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Arec
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2d8928f2ae
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updating data processing scripts to output to the correct location
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2021-10-21 06:29:43 -07:00 |
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Arec
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05b31092f4
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moving options policy to policies, commenting options image, and making the calls to train more flexible
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2021-10-21 05:59:28 -07:00 |
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Arec
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45a99978e4
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adding discriminators to main folder, utilities to render a video from a saved model
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2021-10-21 05:33:05 -07:00 |
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Arec
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da1fb11269
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adding functions to process expert data across locations and tracks in intersimple environment
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2021-10-21 05:21:06 -07:00 |
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Johannes Fischer
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88b4466e57
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MInor change in value dice loss, activate print statements, only do EITHER value OR policy update for each batch
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2021-08-06 18:52:17 +02:00 |
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Johannes Fischer
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025c71767f
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Change final value network activation to identity
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2021-08-06 18:48:53 +02:00 |
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Johannes Fischer
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66bfba3986
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Minor formatting
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2021-08-05 18:37:54 +02:00 |
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Johannes Fischer
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6afb112277
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Bugfix in value dice
FIRST backward() has to be called on both, policy and value, before step() is called for either of them
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2021-08-05 18:35:14 +02:00 |
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Johannes Fischer
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bf4c19a4d0
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Add value dice ray config
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2021-08-05 18:33:34 +02:00 |
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Johannes Fischer
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40c55478f3
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Bugfixes in valuedice
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2021-08-04 20:53:03 +02:00 |
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Johannes Fischer
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2224e2cd14
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Merge branch 'main' of github.com:sisl/InteractionImitation
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2021-08-04 19:44:55 +02:00 |
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Johannes Fischer
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5c40de66fa
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Implement ValueDICE and some restructuring
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2021-08-04 19:34:49 +02:00 |
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Arec
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f9729b0a9d
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making expert data save s, a, sp. making dataloader also load batches thisway. renaming state to ego_state. converting path_x and path_y to single path variable. making number of samples for ray an argument. adjusting metrics, policy, and other functions to be able to handle this
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2021-08-04 09:45:36 -07:00 |
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Johannes Fischer
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cba42c6e4d
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Set default divergence to histogram based
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2021-08-03 17:18:30 +02:00 |
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Johannes Fischer
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5919a4e439
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Use JS divergence in metrics
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2021-08-03 17:04:47 +02:00 |
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Johannes Fischer
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1ee46214a7
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Implement jenson shannon divergence
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2021-08-03 17:03:37 +02:00 |
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Johannes Fischer
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1916a8fe69
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Implement metrics and write to tensorboard summary at test time
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2021-08-03 15:24:29 +02:00 |
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Arec
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98294e0c95
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Merge branch 'main' of https://github.com/sisl/InteractionImitation into main
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2021-08-03 03:28:23 -07:00 |
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Arec
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6e524cf4b5
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adding options for regularization and relative state masking via interaction graphs during data processing and experiment running. found 0.002 regularization on actions gives up to 3m of deviation with no collisions. added shell script to run ray experiments overnight
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2021-08-02 14:38:06 -07:00 |
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Johannes Fischer
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b869597717
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extend comment on divergence
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2021-08-02 19:15:02 +02:00 |
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Johannes Fischer
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f468b3b7a4
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Implement histogram based kl divergence computation
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2021-08-02 19:14:40 +02:00 |
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Johannes Fischer
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6177b1f7e1
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Add kl_cat
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2021-08-02 11:12:24 +02:00 |
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Johannes Fischer
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4ea4d42df7
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Merge branch 'main' of github.com:sisl/InteractionImitation
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2021-08-02 11:08:35 +02:00 |
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Johannes Fischer
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281f7773c4
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Implement kl divergence methods and tests
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2021-08-02 11:04:03 +02:00 |
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Johannes Fischer
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99f7df2e7c
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Add comment
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2021-07-30 18:19:29 +02:00 |
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Arec
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fb91ee1a62
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Merge branch 'main' of https://github.com/sisl/InteractionImitation into main
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2021-07-30 05:17:43 -07:00 |
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Johannes Fischer
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bd5e854720
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Add collision and avg velocity metrics
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2021-07-30 13:35:42 +02:00 |
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Arec
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e30d0ab1ba
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removing outliers from expert tracks
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2021-07-29 08:20:40 -07:00 |
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Arec
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3b4ef6ffb5
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adding tool for visualizing acceleration distributions, and making nframes an arg
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2021-07-29 07:35:21 -07:00 |
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Johannes Fischer
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afc3719ab9
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Fix bug with wrong argument order
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2021-07-29 15:30:55 +02:00 |
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Johannes Fischer
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3b623a1467
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Add testing script for raytune experiments
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2021-07-29 15:30:41 +02:00 |
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Johannes Fischer
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35634fd2eb
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Separate experiment from main.py
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2021-07-29 14:40:19 +02:00 |
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Arec
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e47d69dbc1
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changing relative state dim to 6
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2021-07-29 02:54:41 -07:00 |
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Arec
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fdbdc7f9f0
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making data processing happen on front end, not on data loader. saving a ton of time
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2021-07-29 02:53:20 -07:00 |
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Arec
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09f77e0587
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changing how tune reporting works so the scheduler doesnt break if itcant find cv loss. also fixed bug in config structure that was rendering impossible policies
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2021-07-28 09:55:11 -07:00 |
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Arec
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87aa19b86b
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getting hyperparameter tunning with ray tune working. updating default network with optimization and general parameters.
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2021-07-27 14:30:28 -07:00 |
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Arec
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d9436daaba
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changing default network, making deepsets network choose output dimension appropriately, making bc config to be called by ray
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2021-07-26 07:52:11 -07:00 |
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Arec
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69359b5af3
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periodically savingin out model and adding functionality to make identity Phi networks (for 0-dim NNs)
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2021-07-26 05:51:08 -07:00 |
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Arec
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7b2ca6edc7
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adding tensorboard writer for training loss and cv loss
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2021-07-26 02:38:50 -07:00 |
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Arec
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5b09374c77
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getting training and testing loop working, adding tqdm to simulator, and reduced number of frames, updating readme
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2021-07-23 04:44:50 -07:00 |
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Arec
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563a2cfbd4
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making a differentiable transform for use for pytorch, making sure the fitting function treats nans properly while fitting. next issue: forward pass is returning nans
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2021-07-22 12:37:36 -07:00 |
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Arec
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08eb898812
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adding dtypes and fixing matrix indexing
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2021-07-22 12:06:42 -07:00 |
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Johannes Fischer
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1c22bd6111
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bugfix in deepsets
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2021-07-22 18:44:12 +02:00 |
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Arec
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91d052445e
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making test case for typing bug and fixing some small typing errors in bc
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2021-07-22 08:23:46 -07:00 |
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Johannes Fischer
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827a8e7172
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bugfix in Phi module
nn.ModuleList has to be used in order to register layer parameters as module parameters (similar to add_module)
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2021-07-22 14:33:05 +02:00 |
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Arec
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1ca9914bf9
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fixing bugs in transform, expert demo processing, main train function, and behavior cloning class. need to get bc class parameters to return nonempty list
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2021-07-21 09:44:20 -07:00 |
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Arec
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5758af5dd8
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Merge branch 'main' of https://github.com/sisl/InteractionImitation into main
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2021-07-21 08:22:15 -07:00 |
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Arec
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18b8e0c58f
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updating main testing function to use configs and seeds, finishing first pass at behavior cloning policy and training loop. not yet tested
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2021-07-21 08:22:08 -07:00 |
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