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lerobot
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512 Commits

Author SHA1 Message Date
Simon Alibert 41acc73b4a Add todo for train 2024-05-05 15:04:23 +02:00
Simon Alibert 17778fa3cb Merge remote-tracking branch 'origin/main' into user/aliberts/2024_05_04_release_cleanup 2024-05-05 14:47:49 +02:00
Simon Alibert dc56e9b930 Move diffusers 'get_scheduler' import 2024-05-05 14:47:14 +02:00
Simon Alibert 53d8f6b785 Cleanup eval example 2024-05-05 14:46:29 +02:00
Alexander Soare 6e6feae09e
Remove additional frame from eval render (#137) 2024-05-05 13:49:53 +02:00
Simon Alibert f4dce55b46 Merge remote-tracking branch 'origin/main' into user/aliberts/2024_05_04_release_cleanup 2024-05-05 13:10:48 +02:00
Alexander Soare f6fe162432
Rename Diffusion Policy model repository (#136) 2024-05-05 12:06:58 +01:00
Simon Alibert adf884eb78 Apply suggestions from code review 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-05 12:43:58 +02:00
Simon Alibert 58755561bd Update walkthrough items 2024-05-05 12:43:58 +02:00
Simon Alibert 7664ad8259 Fix pretrained_policy_path 2024-05-05 12:43:58 +02:00
Simon Alibert f23f5f977f Update readme for visualization & examples 2024-05-05 12:43:58 +02:00
Simon Alibert 0981350449 Enhance example 1 2024-05-05 12:43:58 +02:00
Simon Alibert 292da1f4fe Enhance PR template 2024-05-05 12:43:57 +02:00
Kashif Rasul 649087a274 Update README.md 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-05 12:43:57 +02:00
Kashif Rasul b88a9a9e6e fixed typos and Hugging Face in Readmes 2024-05-05 12:43:57 +02:00
Alexander Soare f3bba0270d
Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Alexander Soare d747195c57
Fix loops in eval.py (#128) 2024-05-04 15:21:10 +01:00
Simon Alibert c77633c38c
Add regression tests (#119) 
- 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
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 c015252e20
Remove batch length restrictions in select_action (#123) 2024-05-04 15:33:55 +02:00
Alexander Soare bccee745c3
Refactor eval.py (#127) 2024-05-03 17:33:16 +01:00
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
Alexander Soare c1668924ab
Fix missing `policy.to(device)` in policy factory (#126) 2024-05-01 17:26:58 +01:00
Alexander Soare d1855a202a
Refactor TD-MPC (#103) 
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
Alexander Soare a4891095e4
Use PytorchModelHubMixin to save models as safetensors (#125) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-01 16:17:18 +01:00
Alexander Soare 01d5490d44
Follow `transformers` single file naming conventions (#124) 2024-05-01 13:09:42 +01:00
Alexander Soare 986583dc5c
Nest ACT model in ACT Policy (#122) 2024-04-30 17:17:40 +01:00
Alexander Soare 9d60dce6f3
Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Remi e4e739f4f8
Refactor push_dataset_to_hub (#118) 2024-04-30 14:25:41 +02:00
Simon Alibert 2765877f28
Speed up CI, add more checks (#115) 
- Split pytest and end-to-end tests into separate jobs
- Add poetry check to ensure pyproject.toml and poetry.lock are in sync
- Add ruff format --diff to ensure style formatting is applied (fails if ruff would reformat anything)
 2024-04-29 23:05:55 +02:00
Adil Zouitine 1ec5f77f7c
Remove mask check key in XarmProcessor (#117) 2024-04-29 22:00:37 +02:00
Quentin Gallouédec 508bd92d03
Remove `update` method from the policy (#99) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-29 12:27:58 +02:00
Adil Zouitine 5b4fd8891d
Update UmiProcessor default fps to 10 (#116) 2024-04-29 12:11:34 +02:00
Alexander Soare ccffa9e406
Fix policy defaults (#113) 2024-04-29 08:26:59 +01:00
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 bf2eebb090
Update readme & remove example 1 (#108) 
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
Simon Alibert fe2b9af64f
Add test-docker-build workflow (#109) 
Adds a `test-docker-build.yml` workflow to ensure that docker images can correctly build when their Dockerfile has been modified on PRs.
 2024-04-27 09:40:21 +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
Alexander Soare 45f351c618
Make sure targets are normalized too (#106) 2024-04-26 11:18:39 +01:00
Simon Alibert b980c5dd9e
CI nightlies cpu/gpu & cleanup (#75) 2024-04-25 14:58:39 +02:00
Remi 659c69a1c0
Refactor datasets into LeRobotDataset (#91) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 12:23:12 +02:00
Remi e760e4cd63
Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +02:00
Remi c1bcf857c5
Fix online training (#94) 2024-04-23 18:54:55 +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
Alexander Soare e2168163cd
Quality of life patches for eval.py (#86) 2024-04-19 12:33:47 +01:00
Simon Alibert ac0ab27333
Hotfix test_examples.py (#87) 2024-04-19 12:36:04 +02:00