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lerobot
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593 Commits

Author SHA1 Message Date
youliangtan 9f751093bc nit and test on droid100 ds 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
 2024-07-11 19:15:16 -07:00
youliang 1837b4c1ff
Merge branch 'main' into user/youliang/2024_06_20_oxe_data_format_to_hg 2024-07-11 18:18:33 -07:00
youliangtan 3380665e3e apply oxe configs and transform for dataset standardization 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
 2024-07-11 18:07:35 -07:00
Alexander Soare 471eab3d7e
Make ACT compatible with "observation.environment_state" (#314) 2024-07-11 13:12:22 +01:00
Seungjae Lee 64425d5e00
Bug fix: fix error when setting select_target_actions_indices in vqbet (#310) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-10 17:56:11 +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 cc2f6e7404
Train diffusion pusht_keypoints (#307) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 12:35:50 +01:00
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
Simon Alibert 74362ac453
Add VQ-BeT copyrights (#299) 2024-07-04 13:02:31 +02:00
Simon Alibert 964f9e86d6
Cleanup config defaults (#300) 2024-07-04 11:53:29 +02:00
Nur Muhammad "Mahi" Shafiullah 7a5fc76b9f
Added new credits and citations (#301) 2024-07-03 20:57:47 +02:00
youliang 85fec65b3e
Merge branch 'main' into user/youliang/2024_06_20_oxe_data_format_to_hg 2024-06-26 20:03:31 -07:00
youliangtan a644084f98 add lang tokenizer 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
 2024-06-26 19:52:46 -07:00
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
youliangtan 61e51c9fe4 add reward 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
 2024-06-20 12:38:49 -07:00
youliangtan 3e4d7beb5d Merge branch 'main' into user/youliang/2024_06_20_oxe_data_format_to_hg 2024-06-20 12:05:32 -07:00
youliangtan 4ab4950da8 experimental rlds to hg format convert and uploader 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
 2024-06-20 12:04:51 -07:00
Alexander Soare 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
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
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 56199fb76f
Update readme to detail the lerobot dataset format (#275) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-06-18 13:40:03 +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
Jihoon Oh b72d574891
fix Unet global_cond_dim to use state dim, not action dim (#278) 2024-06-17 15:17:28 +01:00
Alexander Soare 15dd682714
Add multi-image support to diffusion policy (#218) 2024-06-17 08:11:20 +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
Simon Alibert a92d79fff2
Fix nightlies (#273) 2024-06-14 17:11:19 +01:00
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 c38f535c9f
FIx make_dataset to match transforms config (#264) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-06-12 19:45:42 +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
Ikko Eltociear Ashimine 1cf050d412
chore: update 4_train_policy_with_script.md (#257) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-11 08:24:39 +01:00
Wael Karkoub 54c9776bde
Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
Luc Georges a06598678c
feat(ci): add trufflehog secrets detection (#254) 2024-06-10 14:25:43 +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
Simon Alibert e54d6ea1eb
Make `display_sys_info.py` install-agnostic (#253) 2024-06-07 15:02:17 +02:00
Alexander Soare 1eb4bfe2e4
Fix videos_dir documentation (#247) 2024-06-05 08:25:20 +01:00
Alexander Soare 21f222fa1d
Add out_dir option to eval (#244) 2024-06-04 21:01:53 +02:00
amandip7 33362dbd17
Adding parameter dataloading_s to console logs and wandb for tracking… (#243) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-04 17:02:05 +01:00
Ruijie b0d954c6e1
Fix bug in normalize to avoid divide by zero (#239) 
Co-authored-by: rj <rj@teleopstrio-razer.lan>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-04 12:21:28 +02:00
Simon Alibert bd3111f28b
Fix `visualize_dataset.py --help` (#241) 2024-06-03 16:35:16 +02:00
Alexander Soare cf15cba5fc
Remove redundant slicing operation in Diffusion Policy (#240) 2024-06-03 13:04:24 +01:00
jganitzer 042e193995
Typo in examples\4_train_policy_with_script.md (#235) 2024-05-31 18:14:14 +01:00
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
Radek Osmulski 83f4f7f7e8
Add precision param to format_big_number (#232) 2024-05-31 10:19:01 +02:00
Alexander Soare 633115d861
Fix chaining in MultiLerobotDataset (#233) 2024-05-31 09:03:28 +01:00
Alexander Soare 57fb5fe8a6
Improve documentation on VAE encoder inputs (#215) 2024-05-30 19:16:44 +02:00
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