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lerobot
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161 Commits

Author SHA1 Message Date
Remi 07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 (#419) 
Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-25 11:23:55 +02:00
Remi 77478d50e5
Refactor `record` with `add_frame` (#468) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-16 20:51:35 +02:00
Remi 97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml (#429) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-10 17:12:45 +02:00
Simon Alibert 1a343c3591
Add support for Stretch (hello-robot) (#409) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2024-10-04 18:56:42 +02:00
Remi 26f97cfd17
Enable CI for robot devices with mocked versions (#398) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-03 17:05:23 +02:00
Simon Alibert 9d0c6fe419
Fix nightlies & untrack json files from git lfs (#414) 2024-09-05 15:07:43 +02:00
Remi 429a463aff
Control aloha robot natively (#316) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-04 19:28:05 +02:00
Michel Aractingi eb4c505cff
Support for converting OpenX datasets from RLDS format to LeRobotDataset (#354) 
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
Alexander Soare 9c7649f140
Make sure `init_hydra_config` does not require any keys (#376) 2024-08-23 12:27:08 +01:00
Remi bbe9057225
Improve control robot ; Add process to configure motor indices (#326) 
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
Remi 2252b42337
Add visualize_dataset_html with `http.server` (#188) 2024-08-08 20:19:06 +03:00
Alexander Soare f8a6574698
Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Alexander Soare abbb1d2367
Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +01:00
Simon Alibert 0b21210d72
Convert datasets to av1 encoding (#302) 2024-07-22 20:08:59 +02:00
Alexander Soare c0101f0948
Fix ACT temporal ensembling (#319) 2024-07-16 10:27:21 +01:00
Remi 5e54e39795
Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00
Alexander Soare 471eab3d7e
Make ACT compatible with "observation.environment_state" (#314) 2024-07-11 13:12:22 +01:00
Simon Alibert e410e5d711
Improve video benchmark (#282) 
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
Alexander Soare a4d77b99f0
Include `observation.environment_state` with keypoints in PushT dataset (#303) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 08:27:40 +01:00
Alexander Soare 7bd5ab16d1
Fix generation of dataset test artifact (#306) 2024-07-05 11:02:26 +01:00
Alexander Soare 342f429f1c
Add test to make sure policy dataclass configs match yaml configs (#292) 2024-06-26 09:09:40 +01:00
Seungjae Lee 7d1542cae1
Add VQ-BeT (#166) 2024-06-26 08:55:02 +01:00
Thomas Wolf 48951662f2
Bug fix: missing attention mask in VAE encoder in ACT policy (#279) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 12:07:21 +01:00
Thomas Wolf 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
Marina Barannikov e28fa2344c
added visualization for min and max transforms (#271) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-06-17 09:09:57 +02:00
Thomas Wolf 125bd93e29
Improve `push_dataset_to_hub` API + Add unit tests (#231) 
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
Marina Barannikov ff8f6aa6cd
Add data augmentation in LeRobotDataset (#234) 
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
Thomas Lips 055a6f60c6
add root argument to the dataset visualizer to visualize local datasets (#249) 2024-06-10 10:44:32 +02:00
Remi d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Radek Osmulski 504d2aaf48
add EpisodeAwareSampler (#217) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 13:43:47 +01:00
Alexander Soare 633115d861
Fix chaining in MultiLerobotDataset (#233) 2024-05-31 09:03:28 +01:00
Alexander Soare 0b51a335bc
Add a test for MultiLeRobotDataset making sure it produces all frames. (#230) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-30 17:46:25 +01:00
Alexander Soare 111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s (#229) 2024-05-30 16:12:21 +01:00
Alexander Soare e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Alexander Soare e67da1d7a6
Add tutorials for using the training script and (#196) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-21 16:47:49 +01:00
Remi c4da689171
Hot fix to compute validation loss example test (#200) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-20 18:30:11 +02:00
Radek Osmulski 9b62c25f6c
Adds split_by_episodes to LeRobotDataset (#158) 2024-05-20 14:04:04 +02:00
Remi 01eae09ba6
Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Alexander Soare 4d7d41cdee
Fix act action queue (#185) 2024-05-16 15:43:25 +01:00
Akshay Kashyap c9069df9f1
Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Alexander Soare 68c1b13406
Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert f52f4f2cd2
Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Simon Alibert 29a196c5dd
Fix #173 - Require gym-pusht to be installed for test_examples_3_and_2 (#174) 2024-05-12 08:08:59 +02:00
Alexander Soare 1249aee3ac
Enable logging all the information returned by the `forward` methods of policies (#151) 2024-05-10 07:45:32 +01:00
Alexander Soare b187942db4
Add context manager for seeding (#164) 2024-05-09 17:58:39 +01:00
Alexander Soare 473345fdf6
Fix stats override in ACT config (#161) 2024-05-09 15:16:47 +01:00
Alexander Soare e89521dfa0
Enable tests for TD-MPC (#160) 2024-05-09 13:42:12 +01:00
Alexander Soare a8e245fb31
Remove loss masking from diffusion policy (#135) 2024-05-06 07:27:01 +01:00
Simon Alibert f5e76393eb
Release cleanup (#132) 
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
Remi 6eaffbef1d
Add 25 real world datasets (static + mobile aloha) (#133) 2024-05-05 19:13:11 +02:00