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Creating the transformer encoder
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Classroom Contents
Building Generalist Robotics Policies from Scratch
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- 1 Intro: ChatGPT, Language Models and the Goals of Generalist Robotics Policies
- 2 Reading and exploring the data
- 3 Creating a Dataset
- 4 Creating a Dataset
- 5 Creating the transformer encoder
- 6 Creating image patches to tokenized
- 7 Putting together the VIT
- 8 Training the VIT
- 9 Making the GRP, starting with adding text inputs
- 10 Modifying the data for training
- 11 Converting continuous actions to discrete bins
- 12 Converting continuous actions to discrete bins
- 13 Standardizing the state inputs
- 14 Changing to use continuous actions
- 15 Standizing the action space
- 16 Adding goal images to the transformer
- 17 Adding blocked masked attention to use either goal
- 18 Scaling training
- 19 Training results across A100s
- 20 Evaluation using the SimpleEnv robotics simulator
