wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
913 Commits 131 Branches 0 Tags 244 MiB
Commit Graph

85 Commits

Author SHA1 Message Date
AdilZouitine 2449b3cca1 Merge branch 'user/adil-zouitine/2025-1-7-port-hil-serl-new' of github.com:huggingface/lerobot into user/adil-zouitine/2025-1-7-port-hil-serl-new 2025-03-24 10:05:42 +00:00
Eugene Mironov 75409f7971 [Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL (#722) 2025-03-24 09:23:51 +00:00
Eugene Mironov 0ce97c8061 [Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) 2025-03-24 09:07:18 +00:00
AdilZouitine 7551260104 Remove unused functions and imports from modeling_sac.py 
- Deleted the `find_and_copy_params` function and the `Ensemble` class, as they were deemed unnecessary.
- Cleaned up imports by removing `from_modules` from `tensordict` to enhance code clarity.
- Simplified the assertion in the `Policy` class for better readability.
 2025-03-19 18:53:01 +00:00
Michel Aractingi 546719137a Added caching function in the learner_server and modeling sac in order to limit the number of forward passes through the pretrained encoder when its frozen. 
Added tensordict dependencies
Updated the version of torch and torchvision

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-02-21 10:13:43 +00:00
Eugene Mironov 3ffe0cf0f4
[Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL (#722) 2025-02-21 10:29:00 +01:00
Simon Alibert ddeade077e
Conform pyproject to PEP 621 (#621) 2025-02-16 14:28:03 +01:00
Simon Alibert 90e099b39f
Remove offline training, refactor `train.py` and logging/checkpointing (#670) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-02-11 10:36:06 +01:00
Remi 638d411cd3
Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
Simon Alibert 3c0a209f9f
Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +01:00
Simon Alibert 1ee1acf8ad
Comply with torchvision 0.21 custom transforms (#665) 2025-01-30 22:06:11 +01:00
Jochen Görtler d8560b8d5f
Bump`rerun-sdk` dependency to `0.21.0` (#618) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-01-20 09:50:11 +01:00
Eugene Mironov c5bca1cf0f
[Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-01-06 11:34:00 +01:00
Eugene Mironov 70b652f791
[Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) 2024-12-23 10:43:55 +01:00
Simon Alibert 32eb0cec8f
Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00
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
Boris Zimka c351e1fff9
Fix gymnasium version as pre-1.0.0 (#471) 
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-10-18 10:23:27 +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 c712d68f6a
Fix nightlies (#443) 2024-09-18 14:51:45 +02:00
Remi 9c9f5cac90
Add IntelRealSenseCamera (#410) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: shantanuparab-tr <shantanu@trossenrobotics.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-05 23:59:41 +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
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
Simon Alibert 0b21210d72
Convert datasets to av1 encoding (#302) 2024-07-22 20:08:59 +02:00
Simon Alibert ee200e86cb
Ensure no upper bound constraints on dependencies (#327) 2024-07-18 12:07:15 +02:00
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
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
Simon Alibert 2abef3bef9
Enable `video_reader` backend (#220) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 17:15:25 +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
Alexander Soare e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Simon Alibert 35c1ce7a66
Fix install issues (#191) 2024-05-23 14:25:18 +02:00
Remi 01eae09ba6
Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
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
Simon Alibert 89c6be84ca
Limit datasets major update (#176) 
Co-authored-by: Quentin Lhoest <42851186+lhoestq@users.noreply.github.com>
Co-authored-by: Quentin Lhoest <lhoest.q@gmail.com>
 2024-05-12 08:15:07 +02:00
Simon Alibert 7bb5b15f4c
Remove dependencies upper bounds constraints (#145) 2024-05-08 17:23:10 +00:00
Simon Alibert eb6bfe01b2
Relax version contraints & poetry lock (#139) 2024-05-06 17:38:29 +02:00
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 19812ca470
Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Simon Alibert b7b69fcc3d
Publish environments (#120) 2024-05-03 16:25:45 +02:00
Remi b2cda12f87
Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
Simon Alibert 791506dfb8
Remove warnings (#111) 
- Replace `use_pretrained_backbone` with `pretrained_backbone_weights`
- Bump diffusers' minimum version `0.26.3` -> `0.27.2`
- Add ignore flags in CI's pytest
- Change Box observation spaces in simulation environments
- Set `version_base="1.2"` in Hydra initializations
- Bump einops' minimum version `0.7.0` -> `0.8.0`
 2024-04-29 00:31:33 +02:00
Adil Zouitine 55dc9f7f51
Refactor the download and publication of the datasets and convert it into CLI script (#95) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-29 00:08:17 +02:00
Adil Zouitine 81e490d46f
Add UMI-gripper dataset (#83) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-28 18:41:07 +02:00
Simon Alibert a4b6c5e3b1
Add torchaudio (#110) 2024-04-27 14:00:38 +02:00
Simon Alibert fdf6a0c4e3
More CI cleanup, add style workflow (#107) 
- 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
Remi 1030ea0070
Loads episode_data_index and stats during dataset __init__ (#85) 
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
Cadene 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
Simon Alibert 70e8de95f7 Clean & update pyproject 2024-04-16 12:09:56 +02:00