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lerobot
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574 Commits

Author SHA1 Message Date
Thomas Wolf a7c030076f conversion script from original ACT repo 2024-06-10 23:44:33 +02:00
Thomas Wolf ddaaa9f279 updating with adding masking in ACT - start adding some tests 2024-06-10 15:30:57 +02:00
Thomas Wolf ef074d7281 add train and evals 2024-06-09 14:03:47 +02:00
Thomas Wolf 797f79f182 update 2024-06-08 17:54:06 +02:00
Thomas Wolf 7ff93e8a51
Update examples/real_robot_example/0_record_training_data.py 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:17:28 +02:00
Thomas Wolf c304474f6a
Update examples/real_robot_example/0_record_training_data.py 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:17:19 +02:00
Thomas Wolf e53a03ca53
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:17:12 +02:00
Thomas Wolf 86508a167f
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:17:05 +02:00
Thomas Wolf ac9bbf2cd7
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:16:55 +02:00
Thomas Wolf cc3dcf2b89
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:16:48 +02:00
Thomas Wolf 5332fef758
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:16:41 +02:00
Thomas Wolf a40d0cbcc7
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:16:33 +02:00
Thomas Wolf 3717639f11
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:16:25 +02:00
Thomas Wolf 562f09451e
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:16:17 +02:00
Thomas Wolf 754944151c
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:15:56 +02:00
Thomas Wolf 480ed50d36
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:15:08 +02:00
Thomas Wolf ac7d6228ed
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:15:01 +02:00
Thomas Wolf a461a71277
Update README.md 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-08 12:14:55 +02:00
Thomas Wolf 57d3d27c78 add simple manual real world gym env example 2024-06-05 00:37:46 +02:00
Thomas Wolf 0935e49c8a add lerobotdataset in readme 2024-06-04 18:45:12 +02:00
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
Remi 265b0ec44d
Refactor env to add key word arguments from config yaml (#223) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-30 13:45:22 +02:00
Remi 2c2e4e14ed
Add `aloha_dora_format.py` (#201) 
Co-authored-by: Thomas Wolf <thomwolf@users.noreply.github.com>
 2024-05-30 11:26:39 +02:00
Simon Alibert 13310681b1
Enable cuda for end-to-end tests (#222) 2024-05-29 23:02:23 +02:00
Alexander Soare 3d625ae6d3
Handle `crop_shape=None` in Diffusion Policy (#219) 2024-05-28 18:27:33 +01:00
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 7ec76ee235
Fix nightly builds (#216) 2024-05-28 10:43:34 +02:00
Radek Osmulski 3b86050ab0
throw an error if config.do_maks_loss and action_is_pad not provided in batch (#213) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-27 09:06:26 +01:00
Alexander Soare 6d39b73399
Adds a tutorial section on how to use arbitrary configuration files (#206) 2024-05-24 12:39:11 +01:00
Simon Alibert aca424a481
Add dev docker image (#189) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-23 14:39:14 +02:00
Simon Alibert 35c1ce7a66
Fix install issues (#191) 2024-05-23 14:25:18 +02:00
Alexander Soare e67da1d7a6
Add tutorials for using the training script and (#196) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-21 16:47:49 +01:00
Alexander Soare b6c216b590
Add Automatic Mixed Precision option for training and evaluation. (#199) 2024-05-20 18:57:54 +01:00
Alexander Soare 2b270d085b
Disable online training (#202) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-20 18:27:54 +01:00
Remi c4da689171
Hot fix to compute validation loss example test (#200) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-20 18:30:11 +02:00
Radek Osmulski 9b62c25f6c
Adds split_by_episodes to LeRobotDataset (#158) 2024-05-20 14:04:04 +02:00
Remi 01eae09ba6
Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Alexander Soare 19dfb9144a
Update the README to reflect WandB disabled by default (#198) 2024-05-20 09:02:24 +01:00
Alexander Soare 096149b118
Disable wandb by default (#195) 2024-05-17 18:01:39 +01:00
Alexander Soare 5ec0af62c6
Explain why n_encoder_layers=1 (#193) 2024-05-17 15:05:40 +01:00