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204 Commits

Author SHA1 Message Date
Eugene Mironov c5bca1cf0f
[Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-01-06 11:34:00 +01:00
Michel Aractingi 35de91ef2b added temporary fix for missing task_index key in online environment 2024-12-30 13:47:28 +00:00
Michel Aractingi dc54d357ca Added normalization schemes and style checks 2024-12-29 12:51:21 +00:00
Michel Aractingi 08ec971086 added optimizer and sac to factory.py 2024-12-23 14:12:03 +01:00
Michel Aractingi 668d493bf9 Update lerobot/scripts/train_hilserl_classifier.py 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:44:31 +07:00
Eugene Mironov 1020bc3108 Fixup 2024-12-17 02:42:53 +07:00
Michel Aractingi 7fcf638c0d Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:41:31 +07:00
Yoel e35546f58e Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2024-12-17 02:41:29 +07:00
Simon Alibert 4c41f6fcc6
Fix example 6 (#572) 2024-12-11 10:32:18 +01:00
Michel Aractingi 8e7d6970ea
Control simulated robot with real leader (#514) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-12-03 12:20:05 +01:00
Remi 286bca37cc
Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-12-03 10:53:21 +01:00
Michel Aractingi a2c181992a
Refactor OpenX (#505) 2024-12-03 00:51:55 +01:00
Simon Alibert 32eb0cec8f
Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00
Daniel Ritchie 8af693548e
Add support for Windows (#494) 2024-11-22 19:14:25 +01:00
Remi 07e8716315
Add FeetechMotorsBus, SO-100, Moss-v1 (#419) 
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
Remi 77478d50e5
Refactor `record` with `add_frame` (#468) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-16 20:51:35 +02:00
Remi 97b1feb0b3
Add policy/act_aloha_real.yaml + env/act_real.yaml (#429) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-10 17:12:45 +02:00
Simon Alibert 1a343c3591
Add support for Stretch (hello-robot) (#409) 
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
Remi 26f97cfd17
Enable CI for robot devices with mocked versions (#398) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-03 17:05:23 +02:00
Simon Alibert c712d68f6a
Fix nightlies (#443) 2024-09-18 14:51:45 +02:00
Remi beaa427504
Fix slow camera fps with Aloha (#433) 2024-09-12 14:20:24 +02:00
Jack Vial b0b8612eff
fix(calibrate): fix calibrate arms option type. should be str not int (#418) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-09-06 14:44:31 +02:00
Remi 429a463aff
Control aloha robot natively (#316) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-04 19:28:05 +02:00
Mishig 114e09f570
rm EpisodeSampler from viz (#389) 2024-08-30 10:53:55 +02:00
Michel Aractingi 4806336816
Add the possibility to visualize language instructions in visualize_dataset_html.py (#388) 
Co-authored-by: Mishig <dmishig@gmail.com>
 2024-08-28 11:50:31 +02:00
Michel Aractingi eb4c505cff
Support for converting OpenX datasets from RLDS format to LeRobotDataset (#354) 
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
Alexander Soare 9c7649f140
Make sure `init_hydra_config` does not require any keys (#376) 2024-08-23 12:27:08 +01:00
Zhuoheng Li a2592a5563
Provide more information to the user (#358) 
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
Simon Alibert b98ea415c1
Add dataset cards (#363) 2024-08-16 10:08:44 +02:00
Remi bbe9057225
Improve control robot ; Add process to configure motor indices (#326) 
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
Remi 2252b42337
Add visualize_dataset_html with `http.server` (#188) 2024-08-08 20:19:06 +03:00
Alexander Soare f8a6574698
Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Simon Alibert 0b21210d72
Convert datasets to av1 encoding (#302) 2024-07-22 20:08:59 +02:00
Simon Alibert 461d5472d3
Fix visualize_image_transforms (#333) 2024-07-18 22:26:00 +02:00
Simon Alibert 8865e19c12
Fix datasets missing versions (#318) 2024-07-16 23:02:31 +02:00
Alexander Soare 5f5efe7cb9
Improve error message when attempting to overwrite a training output folder (#322) 2024-07-16 16:50:31 +01:00
Remi 5e54e39795
Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00
Remi 5ffcb48a9a
Add available list of raw repo ids (#312) 2024-07-13 11:30:50 +02:00
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
Seungjae Lee 7d1542cae1
Add VQ-BeT (#166) 2024-06-26 08:55:02 +01:00
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 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
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
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 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
Wael Karkoub 54c9776bde
Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
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