26f97cfd17
Enable CI for robot devices with mocked versions ( #398 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-03 17:05:23 +02:00
9d0c6fe419
Fix nightlies & untrack json files from git lfs ( #414 )
2024-09-05 15:07:43 +02:00
429a463aff
Control aloha robot natively ( #316 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-04 19:28:05 +02:00
eb4c505cff
Support for converting OpenX datasets from RLDS format to LeRobotDataset ( #354 )
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Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-08-27 09:07:00 +02:00
9c7649f140
Make sure `init_hydra_config` does not require any keys ( #376 )
2024-08-23 12:27:08 +01:00
bbe9057225
Improve control robot ; Add process to configure motor indices ( #326 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-08-15 18:11:33 +02:00
2252b42337
Add visualize_dataset_html with `http.server` ( #188 )
2024-08-08 20:19:06 +03:00
f8a6574698
Add online training with TD-MPC as proof of concept ( #338 )
2024-07-25 11:16:38 +01:00
abbb1d2367
Make sure policies don't mutate the batch ( #323 )
2024-07-22 20:38:33 +01:00
0b21210d72
Convert datasets to av1 encoding ( #302 )
2024-07-22 20:08:59 +02:00
c0101f0948
Fix ACT temporal ensembling ( #319 )
2024-07-16 10:27:21 +01:00
5e54e39795
Add real robot devices and scripts to control real robot ( #288 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-07-15 17:43:10 +02:00
471eab3d7e
Make ACT compatible with "observation.environment_state" ( #314 )
2024-07-11 13:12:22 +01:00
e410e5d711
Improve video benchmark ( #282 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 20:20:25 +02:00
a4d77b99f0
Include `observation.environment_state` with keypoints in PushT dataset ( #303 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 08:27:40 +01:00
7bd5ab16d1
Fix generation of dataset test artifact ( #306 )
2024-07-05 11:02:26 +01:00
342f429f1c
Add test to make sure policy dataclass configs match yaml configs ( #292 )
2024-06-26 09:09:40 +01:00
7d1542cae1
Add VQ-BeT ( #166 )
2024-06-26 08:55:02 +01:00
48951662f2
Bug fix: missing attention mask in VAE encoder in ACT policy ( #279 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-06-19 12:07:21 +01:00
11f1cb5dc9
Bug fix: fix setting different learning rates between backbone and main model in ACT policy ( #280 )
2024-06-18 13:31:35 +01:00
e28fa2344c
added visualization for min and max transforms ( #271 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-06-17 09:09:57 +02:00
125bd93e29
Improve `push_dataset_to_hub` API + Add unit tests ( #231 )
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Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 15:18:02 +02:00
ff8f6aa6cd
Add data augmentation in LeRobotDataset ( #234 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
2024-06-11 19:20:55 +02:00
055a6f60c6
add root argument to the dataset visualizer to visualize local datasets ( #249 )
2024-06-10 10:44:32 +02:00
d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 ( #228 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 15:31:02 +02:00
504d2aaf48
add EpisodeAwareSampler ( #217 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 13:43:47 +01:00
633115d861
Fix chaining in MultiLerobotDataset ( #233 )
2024-05-31 09:03:28 +01:00
0b51a335bc
Add a test for MultiLeRobotDataset making sure it produces all frames. ( #230 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-30 17:46:25 +01:00
111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s ( #229 )
2024-05-30 16:12:21 +01:00
e3b9f1c19b
Add resume training ( #205 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 12:04:23 +01:00
e67da1d7a6
Add tutorials for using the training script and ( #196 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-21 16:47:49 +01:00
c4da689171
Hot fix to compute validation loss example test ( #200 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-20 18:30:11 +02:00
9b62c25f6c
Adds split_by_episodes to LeRobotDataset ( #158 )
2024-05-20 14:04:04 +02:00
01eae09ba6
Fix aloha real-world datasets ( #175 )
2024-05-20 13:48:09 +02:00
4d7d41cdee
Fix act action queue ( #185 )
2024-05-16 15:43:25 +01:00
c9069df9f1
Port SpatialSoftmax and remove Robomimic dependency ( #182 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-16 15:34:10 +01:00
68c1b13406
Make policies compatible with other/multiple image keys ( #149 )
2024-05-16 13:51:53 +01:00
f52f4f2cd2
Add copyrights ( #157 )
2024-05-15 12:13:09 +02:00
29a196c5dd
Fix #173 - Require gym-pusht to be installed for test_examples_3_and_2 ( #174 )
2024-05-12 08:08:59 +02:00
1249aee3ac
Enable logging all the information returned by the `forward` methods of policies ( #151 )
2024-05-10 07:45:32 +01:00
b187942db4
Add context manager for seeding ( #164 )
2024-05-09 17:58:39 +01:00
473345fdf6
Fix stats override in ACT config ( #161 )
2024-05-09 15:16:47 +01:00
e89521dfa0
Enable tests for TD-MPC ( #160 )
2024-05-09 13:42:12 +01:00
a8e245fb31
Remove loss masking from diffusion policy ( #135 )
2024-05-06 07:27:01 +01:00
f5e76393eb
Release cleanup ( #132 )
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Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
2024-05-06 03:03:14 +02:00
6eaffbef1d
Add 25 real world datasets (static + mobile aloha) ( #133 )
2024-05-05 19:13:11 +02:00
f6fe162432
Rename Diffusion Policy model repository ( #136 )
2024-05-05 12:06:58 +01:00
f3bba0270d
Remove EMA model from Diffusion Policy ( #134 )
2024-05-05 11:26:12 +01:00
c77633c38c
Add regression tests ( #119 )
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- Add `tests/scripts/save_policy_to_safetensor.py` to generate test artifacts
- Add `test_backward_compatibility to test generated outputs from the policies against artifacts
2024-05-04 16:20:30 +02:00
19812ca470
Add dataset visualization with rerun.io ( #131 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-04 16:07:14 +02:00
bccee745c3
Refactor eval.py ( #127 )
2024-05-03 17:33:16 +01:00
b2cda12f87
Add video decoding to LeRobotDataset ( #92 )
2024-05-03 00:50:19 +02:00
d1855a202a
Refactor TD-MPC ( #103 )
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Co-authored-by: Cadene <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-01 16:40:04 +01:00
a4891095e4
Use PytorchModelHubMixin to save models as safetensors ( #125 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-01 16:17:18 +01:00
01d5490d44
Follow `transformers` single file naming conventions ( #124 )
2024-05-01 13:09:42 +01:00
9d60dce6f3
Tidy up yaml configs ( #121 )
2024-04-30 16:08:59 +01:00
e4e739f4f8
Refactor push_dataset_to_hub ( #118 )
2024-04-30 14:25:41 +02:00
508bd92d03
Remove `update` method from the policy ( #99 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-29 12:27:58 +02:00
ccffa9e406
Fix policy defaults ( #113 )
2024-04-29 08:26:59 +01:00
55dc9f7f51
Refactor the download and publication of the datasets and convert it into CLI script ( #95 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-29 00:08:17 +02:00
81e490d46f
Add UMI-gripper dataset ( #83 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-28 18:41:07 +02:00
bf2eebb090
Update readme & remove example 1 ( #108 )
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Co-authored-by: Remi <re.cadene@gmail.com>
- Update instructions for installing the library
- Remove deprecated example 1 (as we are now only using `LeRobotDataset` since #91 )
2024-04-27 09:48:02 +02:00
fdf6a0c4e3
More CI cleanup, add style workflow ( #107 )
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- Changes on the `test.yml` workflow:
- Using poetry instead of pip. Contrary to what I wrote in #75 , it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`.
- Reduce the trigger scope to only run when files in these directories are modified:
- `lerobot/`
- `tests/`
- `examples/`
- `.github/`
- Add `style.yml` workflow for doing a `ruff check` pass on the code
- More cleanup (removed deprecated workflow)
2024-04-27 09:37:56 +02:00
b980c5dd9e
CI nightlies cpu/gpu & cleanup ( #75 )
2024-04-25 14:58:39 +02:00
659c69a1c0
Refactor datasets into LeRobotDataset ( #91 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 12:23:12 +02:00
e760e4cd63
Move normalization to policy for act and diffusion ( #90 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 11:47:38 +02:00
1030ea0070
Loads episode_data_index and stats during dataset __init__ ( #85 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-23 14:13:25 +02:00
7ad1909641
Tests cleaning & simplification ( #81 )
2024-04-18 14:47:42 +02:00
0928afd37d
Improve dataset examples ( #82 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-18 11:43:16 +02:00
bff4b673c9
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-17 08:08:57 +01:00
91badebdfc
fix tests
2024-04-16 17:29:31 +00:00
36d9e885ef
Address comments
2024-04-16 17:20:54 +00:00
4a3eac4743
fix unit tests, stats was missing, visualize_dataset was broken
2024-04-16 17:20:53 +00:00
0980fff6cc
HF datasets works
2024-04-16 17:19:40 +00:00
c6aca7fe44
For Pusht: use hf datasets to train, rename load_data_with_delta_timestamps -> load_previous_and_future_frames
2024-04-16 17:19:06 +00:00
0eb899de73
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-16 17:30:41 +01:00
a9496fde39
revision 1
2024-04-16 17:15:51 +01:00
8a322da422
backup wip
2024-04-16 16:35:04 +01:00
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
43a614c173
Fix test_examples
2024-04-16 14:07:16 +01:00
9c2f10bd04
ready for review
2024-04-16 13:43:58 +01:00
03b08eb74e
backup wip
2024-04-16 12:51:32 +01:00
5608e659e6
backup wip
2024-04-15 19:06:44 +01:00
30023535f9
revision 1
2024-04-15 10:56:43 +01:00
ef4bd9e25c
Use dataclass config for ACT
2024-04-15 09:39:23 +01:00
c1a618e567
fix pusht images type from float32 to uint8, update gym-pusht dependencies
2024-04-11 14:29:16 +00:00
4216636084
fix
2024-04-11 14:01:23 +00:00
2f4af32d3f
small fix
2024-04-11 13:21:06 +00:00
36de77ac18
fix and clarify tests
2024-04-11 13:16:47 +00:00
92701088a3
small fix
2024-04-11 13:04:27 +00:00
657b27cc8f
fix load_data_with_delta_timestamps and add tests
2024-04-11 13:00:09 +00:00
9874652c2f
enable test_compute_stats
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enable test_compute_stats
2024-04-10 17:12:54 +00:00
ec4bf115d0
fix example_1 test
2024-04-10 13:55:59 +00:00
6082a7bc73
Enable test_available.py
2024-04-10 13:06:48 +00:00
7f4ff0b170
CI fix attempt
2024-04-09 11:58:59 +02:00
d21543eb4f
Add env.close()
2024-04-09 10:41:20 +02:00
6902e01db0
tests are passing for aloha/act policies, removes abstract policy
2024-04-09 03:28:56 +00:00
73dfa3c8e3
tests for tdmpc and diffusion policy are passing
2024-04-09 02:50:32 +00:00
1149894e1d
rename handle -> task
2024-04-08 14:54:52 +00:00
3f6dfa4916
Add gym-aloha, rename simxarm -> xarm, refactor
2024-04-08 16:24:11 +02:00
Remi
Simon Alibert
Michel Aractingi
Alexander Soare
Remi
Seungjae Lee
Thomas Wolf
Marina Barannikov
Thomas Lips
Radek Osmulski
Akshay Kashyap
Quentin Gallouédec
Adil Zouitine
Simon Alibert