GDDPM implementation#146

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caio-freitas wants to merge 24 commits into

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Commits on Mar 3, 2026

Initial implementation of GDDPM model
Caio Freitas
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Commits on Mar 6, 2026

Extend tests
Caio Freitas
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Commits on Mar 9, 2026

Update train, test and gddpm_policy configs
Caio Freitas
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git commit -m "Add FlatGDDPMNoisePred for OSC_POSE and fix GDDPMNoisePred obs/action node mismatch"
Caio Freitas
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git commit -m " Refactor graph data convention: x=observations, y=actions "
Caio Freitas
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Update tests for x=obs, y=actions convention
Caio Freitas
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Fix loading nets on test.py script
Caio Freitas
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Update policies lr scheduling and improve gddpm
Caio Freitas
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Fix dataset split, len() bug, and parametrize warmup steps
Caio Freitas
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Commits on Mar 10, 2026

Add square_graph_osc task config
Caio Freitas
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Update gitignore
Caio Freitas
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Commits on Mar 12, 2026

Use EMA for osc_ddpm_policy
Caio Freitas
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Commits on Mar 15, 2026

Change default ema_decay to none, so it's not when not set
Caio Freitas
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Extend load_nets to better handle EMA parameters
Caio Freitas
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Remove node IDs from graph data
Caio Freitas
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Commits on Mar 16, 2026

Fix issue with video writer during evaluation
Caio Freitas
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Update graph encoder to more appropriate GatedGraphConv
Caio Freitas
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Reduce action horizon for higher precision
Caio Freitas
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Update train.py version
Caio Freitas
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Keep weights/ directory
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Commits on Mar 18, 2026

Remove node IDs from GDDPM model
Caio Freitas
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Commits on Mar 31, 2026

Add positions as node features for GDDPM encoder
Caio Freitas
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Commits on Apr 15, 2026

Set eval() and train() again, while evaluating
Caio Freitas
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Reduce ema_decay
Caio Freitas
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