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
c712d68f6a
Fix nightlies ( #443 )
2024-09-18 14:51:45 +02:00
beaa427504
Fix slow camera fps with Aloha ( #433 )
2024-09-12 14:20:24 +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
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
114e09f570
rm EpisodeSampler from viz ( #389 )
2024-08-30 10:53:55 +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
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
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
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
f8a6574698
Add online training with TD-MPC as proof of concept ( #338 )
2024-07-25 11:16:38 +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
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
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
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
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
54c9776bde
Improves Type Annotations ( #252 )
2024-06-10 19:09:48 +01:00
055a6f60c6
add root argument to the dataset visualizer to visualize local datasets ( #249 )
2024-06-10 10:44:32 +02:00
e54d6ea1eb
Make `display_sys_info.py` install-agnostic ( #253 )
2024-06-07 15:02:17 +02:00
1eb4bfe2e4
Fix videos_dir documentation ( #247 )
2024-06-05 08:25:20 +01:00
21f222fa1d
Add out_dir option to eval ( #244 )
2024-06-04 21:01:53 +02:00
33362dbd17
Adding parameter dataloading_s to console logs and wandb for tracking… ( #243 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-06-04 17:02:05 +01:00
bd3111f28b
Fix `visualize_dataset.py --help` ( #241 )
2024-06-03 16:35:16 +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
111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s ( #229 )
2024-05-30 16:12:21 +01:00
265b0ec44d
Refactor env to add key word arguments from config yaml ( #223 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-30 13:45:22 +02:00
2c2e4e14ed
Add `aloha_dora_format.py` ( #201 )
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Co-authored-by: Thomas Wolf <thomwolf@users.noreply.github.com>
2024-05-30 11:26:39 +02:00
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
b6c216b590
Add Automatic Mixed Precision option for training and evaluation. ( #199 )
2024-05-20 18:57:54 +01:00
2b270d085b
Disable online training ( #202 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-20 18:27:54 +01:00
01eae09ba6
Fix aloha real-world datasets ( #175 )
2024-05-20 13:48:09 +02:00
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
ced3de4c94
Fix hanging in visualize_dataset.py when num_workers > 0 ( #165 )
2024-05-11 19:28:22 +03:00
1249aee3ac
Enable logging all the information returned by the `forward` methods of policies ( #151 )
2024-05-10 07:45:32 +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
6e6feae09e
Remove additional frame from eval render ( #137 )
2024-05-05 13:49:53 +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
d747195c57
Fix loops in eval.py ( #128 )
2024-05-04 15:21:10 +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
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
2765877f28
Speed up CI, add more checks ( #115 )
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- 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
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
791506dfb8
Remove warnings ( #111 )
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- 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
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
45f351c618
Make sure targets are normalized too ( #106 )
2024-04-26 11:18:39 +01:00
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
c1bcf857c5
Fix online training ( #94 )
2024-04-23 18:54:55 +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
e2168163cd
Quality of life patches for eval.py ( #86 )
2024-04-19 12:33:47 +01:00
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
b241ea46dd
move download_and_upload_dataset.py to root_dir
2024-04-16 17:20:53 +00:00
e09d25267e
fix online training
2024-04-16 17:20:53 +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
c7a8218620
typo
2024-04-16 17:19:39 +00:00
67d79732f9
Add download_and_upload_dataset.py in script, update all datasets, update online training
2024-04-16 17:19:39 +00:00
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
9241b5e830
pass step as kwarg
2024-04-15 09:52:54 +01:00
6d0a45a97d
ready for review
2024-04-12 11:36:52 +01:00
94cc22da9e
Merge remote-tracking branch 'upstream/main' into refactor_dp
2024-04-11 17:52:10 +01:00
976a197f98
backup wip
2024-04-11 17:51:35 +01:00
8e5b4365ac
fix
2024-04-11 13:57:22 +00:00
949f4d1a5b
remove comment
2024-04-10 17:21:36 +00:00
4c3d8b061e
Update lerobot/scripts/eval.py
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-04-10 18:07:27 +02:00
8866b22db1
remove policy is None eval end-to-end tests
2024-04-10 15:09:04 +00:00
693f620df0
drop_last=False
2024-04-10 14:59:54 +00:00
48ec479660
fix end-to-end aloha
2024-04-10 14:26:30 +00:00
a18bcb39a7
cfg.env.fps
2024-04-10 14:02:11 +00:00
c08003278e
test_examples are passing
2024-04-10 13:45:45 +00:00
7c8eb7ff19
Merge remote-tracking branch 'origin/user/rcadene/2024_03_31_remove_torchrl' into user/rcadene/2024_03_31_remove_torchrl
2024-04-10 11:34:51 +00:00
06573d7f67
online training works (loss goes down), remove repeat_action, eval_policy outputs episodes data, eval_policy uses max_episodes_rendered
2024-04-10 11:34:01 +00:00
e6c6c2367f
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-09 08:36:28 +01:00
253e495df2
remove render(mode=visualization)
2024-04-09 03:46:05 +00:00
91e0e4e175
rever change
2024-04-08 15:05:40 +01:00
Simon Alibert
Remi
Jack Vial
Mishig
Michel Aractingi
Alexander Soare
Zhuoheng Li
Remi
Seungjae Lee
Thomas Wolf
Marina Barannikov
Wael Karkoub
Thomas Lips
amandip7
Radek Osmulski
Quentin Gallouédec
Adil Zouitine