b86a2c0b47
Fix wandb logging ( #730 )
2025-02-14 18:00:12 +01:00
c574eb4984
Fixed eval.py on MPS ( #702 )
2025-02-14 00:03:55 +01:00
1e49cc4d60
Prevent resuming from hub ( #726 )
2025-02-13 17:15:55 +01:00
e71095960f
Fixes following #670 ( #719 )
2025-02-12 12:53:55 +01:00
90e099b39f
Remove offline training, refactor `train.py` and logging/checkpointing ( #670 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
2025-02-11 10:36:06 +01:00
638d411cd3
Add Pi0 ( #681 )
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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
dd974529cf
User/pepijn/2025 01 31 improved tutorial so100 ( #666 )
2025-02-03 18:27:55 +01:00
ae9605f03c
fix setting motor id with new dataclass config ( #668 )
2025-01-31 20:48:46 +01:00
3c0a209f9f
Simplify configs ( #550 )
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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
1ee1acf8ad
Comply with torchvision 0.21 custom transforms ( #665 )
2025-01-30 22:06:11 +01:00
c4d912a241
Check for "/" in feature names ( #660 )
2025-01-29 21:54:49 +01:00
4323bdce22
updating config instructions for koch 1v1 motors ( #658 )
2025-01-28 13:20:33 +01:00
5daa45436d
Fix typos in `lerobot/scripts/visualize_dataset.py` ( #656 )
2025-01-28 13:07:10 +01:00
380b836eee
Fix for the issue https://github.com/huggingface/lerobot/issues/638 ( #639 )
2025-01-15 10:50:38 +01:00
25a8597680
[viz] Fixes & updates to html visualizer ( #617 )
2025-01-09 11:39:54 +01:00
b8b368310c
typo fix: batch_convert_dataset_v1_to_v2.py ( #615 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2025-01-09 09:57:45 +01:00
5097cd900e
fix(visualise): use correct language description for each episode id ( #604 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2025-01-09 09:39:48 +01:00
59e2757434
Fix broken `create_lerobot_dataset_card` ( #590 )
2024-12-23 15:05:59 +01:00
73b64c3089
[vizualizer] for LeRobodDataset V2 ( #576 )
2024-12-20 16:26:23 +01:00
66f8736598
fixing typo from 'teloperation' to 'teleoperation' ( #566 )
2024-12-11 05:57:52 -08:00
4c41f6fcc6
Fix example 6 ( #572 )
2024-12-11 10:32:18 +01:00
44f9b21e74
LerobotDataset pushable to HF from any folder ( #563 )
2024-12-09 11:32:25 +01:00
8e7d6970ea
Control simulated robot with real leader ( #514 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
2024-12-03 12:20:05 +01:00
286bca37cc
Fix missing local_files_only in record/replay ( #540 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
2024-12-03 10:53:21 +01:00
a2c181992a
Refactor OpenX ( #505 )
2024-12-03 00:51:55 +01:00
32eb0cec8f
Dataset v2.0 ( #461 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
2024-11-29 19:04:00 +01:00
96c7052777
Rename deprecated argument (temporal_ensemble_momentum) ( #490 )
2024-11-25 21:05:13 +01:00
975c1c25c3
Add distinction between two unallowed cases in name check "eval_" ( #489 )
2024-11-22 19:19:57 +01:00
8af693548e
Add support for Windows ( #494 )
2024-11-22 19:14:25 +01:00
538455a965
feat: enable to use multiple rgb encoders per camera in diffusion policy ( #484 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-10-30 11:00:05 +01:00
172809a502
[Fix] Move back to manual calibration ( #488 )
2024-10-26 15:27:21 +02:00
55e4ff6742
Fix autocalib moss ( #486 )
2024-10-26 12:15:17 +02:00
07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 ( #419 )
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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
cd0fc261c0
Make `say(blocking=True)` work for Linux ( #460 )
2024-10-17 15:22:21 +01:00
77478d50e5
Refactor `record` with `add_frame` ( #468 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-16 20:51:35 +02:00
97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml ( #429 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-10-10 17:12:45 +02:00
c29e70e5a1
Fix issue with wrong using index instead of camera_index in opencv ( #466 )
2024-10-09 11:35:19 +02:00
1a343c3591
Add support for Stretch (hello-robot) ( #409 )
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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
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
72f402d44b
Fix dataset card ( #453 )
2024-09-25 16:56:05 +02:00
92573486a8
Don't use async envs by default ( #448 )
2024-09-20 15:22:52 +02:00
c712d68f6a
Fix nightlies ( #443 )
2024-09-18 14:51:45 +02:00
f431a08efa
small fix: assertion error message in envs/utils.py ( #426 )
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Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
2024-09-12 18:03:34 +02:00
beaa427504
Fix slow camera fps with Aloha ( #433 )
2024-09-12 14:20:24 +02:00
a88dd602d9
[Vizualization] Better error message ( #430 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-12 10:46:48 +02:00
6c0324f467
[Vizualization] Fix video layout ( #431 )
2024-09-12 10:06:29 +02:00
a60d27b132
Raise ValueError if horizon is incompatible with downsampling ( #422 )
2024-09-09 17:22:46 +01:00
9c463661c1
[Vizualization] Better UI on small screens (like in smartphones) ( #423 )
2024-09-09 15:39:40 +02:00
4255655618
[Vizualization] Show user error if videos codec is not supported ( #424 )
2024-09-09 15:38:41 +02:00
f17d9a2ba1
Bug: Fix VQ-Bet not working when n_action_pred_token=1 ( #420 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-09-09 09:41:13 +01:00
9ff829a3a1
Add comments for Aloha ( #417 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-09-06 21:07:52 +02:00
d6516f0e03
[Visualization tool] Fix when dim state != dim action ( #415 )
2024-09-06 17:07:26 +02:00
b0b8612eff
fix(calibrate): fix calibrate arms option type. should be str not int ( #418 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
2024-09-06 14:44:31 +02:00
1072a055db
[Visualization tool] Fix videos sync ( #416 )
2024-09-06 10:16:08 +02:00
9c9f5cac90
Add IntelRealSenseCamera ( #410 )
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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
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
27ba2951d1
fix(tdmpc): Add missing save_freq to tdmpc policy config ( #404 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-09-02 19:04:41 +01:00
b2896d38f5
fix(act): n_vae_encoder_layers config parameter wasn't being used ( #400 )
2024-09-02 18:29:27 +01:00
114e09f570
rm EpisodeSampler from viz ( #389 )
2024-08-30 10:53:55 +02:00
04a995e7d1
Fix safe_action ( #395 )
2024-08-30 10:36:05 +02:00
4806336816
Add the possibility to visualize language instructions in visualize_dataset_html.py ( #388 )
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Co-authored-by: Mishig <dmishig@gmail.com>
2024-08-28 11:50:31 +02:00
1ce418e4a1
Add koch bimanual ( #385 )
2024-08-28 00:53:31 +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
aad59e6b6b
Fix videos in visualize_dataset are not in sync ( #382 )
2024-08-26 17:38:48 +02:00
9ce98bb93c
Add safety limits on relative action target ( #373 )
2024-08-26 14:30:18 +01:00
97086cdcdf
Make gripper_open_degree a config param ( #379 )
2024-08-26 12:28:16 +01:00
9c7649f140
Make sure `init_hydra_config` does not require any keys ( #376 )
2024-08-23 12:27:08 +01:00
a2592a5563
Provide more information to the user ( #358 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
2024-08-23 11:00:35 +01:00
86bbd16d43
Improve discoverability on the hub ( #325 )
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Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-08-19 15:16:46 +02:00
0f6e0f6d74
Fix input dim ( #365 )
2024-08-19 11:42:32 +01:00
b98ea415c1
Add dataset cards ( #363 )
2024-08-16 10:08:44 +02:00
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
7a3cb1ad34
Adjust the timestamps' description in Diffusion Policy ( #343 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-07-26 12:47:03 +01:00
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
461d5472d3
Fix visualize_image_transforms ( #333 )
2024-07-18 22:26:00 +02:00
8865e19c12
Fix datasets missing versions ( #318 )
2024-07-16 23:02:31 +02:00
5f5efe7cb9
Improve error message when attempting to overwrite a training output folder ( #322 )
2024-07-16 16:50:31 +01:00
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
5ffcb48a9a
Add available list of raw repo ids ( #312 )
2024-07-13 11:30:50 +02:00
471eab3d7e
Make ACT compatible with "observation.environment_state" ( #314 )
2024-07-11 13:12:22 +01:00
64425d5e00
Bug fix: fix error when setting select_target_actions_indices in vqbet ( #310 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-07-10 17:56:11 +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
cc2f6e7404
Train diffusion pusht_keypoints ( #307 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-07-09 12:35:50 +01:00
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
74362ac453
Add VQ-BeT copyrights ( #299 )
2024-07-04 13:02:31 +02:00
964f9e86d6
Cleanup config defaults ( #300 )
2024-07-04 11:53:29 +02:00
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
9aa4cdb976
Checkpoint on final step of training even when it doesn't coincide with `save_freq`. ( #284 )
2024-06-20 08:27:01 +01:00
2abef3bef9
Enable `video_reader` backend ( #220 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-06-19 17:15:25 +02:00
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
b72d574891
fix Unet global_cond_dim to use state dim, not action dim ( #278 )
2024-06-17 15:17:28 +01:00
15dd682714
Add multi-image support to diffusion policy ( #218 )
2024-06-17 08:11:20 +01:00
Simon Alibert
Ilia Larchenko
Remi
Pepijn
Thomas Lips
Morgan Redfield
HUANG TZU-CHUN
Pradeep Kadubandi
Mishig
CharlesCNorton
Ville Kuosmanen
Eugene Mironov
s1lent4gnt
Claudio Coppola
Michel Aractingi
KasparSLT
Jannik Grothusen
Daniel Ritchie
Hirokazu Ishida
Alexander Soare
Eugene Mironov
Dana Aubakirova
Joe Clinton
Jack Vial
Zhuoheng Li
NielsRogge
Remi
Halvard Bariller
Seungjae Lee
Thomas Wolf
Jihoon Oh