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
c015252e20
Remove batch length restrictions in select_action ( #123 )
2024-05-04 15:33:55 +02:00
bccee745c3
Refactor eval.py ( #127 )
2024-05-03 17:33:16 +01:00
b7b69fcc3d
Publish environments ( #120 )
2024-05-03 16:25:45 +02:00
b2cda12f87
Add video decoding to LeRobotDataset ( #92 )
2024-05-03 00:50:19 +02:00
c1668924ab
Fix missing `policy.to(device)` in policy factory ( #126 )
2024-05-01 17:26:58 +01:00
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
01d5490d44
Follow `transformers` single file naming conventions ( #124 )
2024-05-01 13:09:42 +01:00
986583dc5c
Nest ACT model in ACT Policy ( #122 )
2024-04-30 17:17:40 +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
1ec5f77f7c
Remove mask check key in XarmProcessor ( #117 )
2024-04-29 22:00:37 +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
5b4fd8891d
Update UmiProcessor default fps to 10 ( #116 )
2024-04-29 12:11:34 +02:00
ccffa9e406
Fix policy defaults ( #113 )
2024-04-29 08:26:59 +01:00
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
81e490d46f
Add UMI-gripper dataset ( #83 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-28 18:41:07 +02:00
a4b6c5e3b1
Add torchaudio ( #110 )
2024-04-27 14:00:38 +02:00
bf2eebb090
Update readme & remove example 1 ( #108 )
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Co-authored-by: Remi <re.cadene@gmail.com>
- Update instructions for installing the library
- Remove deprecated example 1 (as we are now only using `LeRobotDataset` since #91 )
2024-04-27 09:48:02 +02:00
fe2b9af64f
Add test-docker-build workflow ( #109 )
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Adds a `test-docker-build.yml` workflow to ensure that docker images can correctly build when their Dockerfile has been modified on PRs.
2024-04-27 09:40:21 +02:00
fdf6a0c4e3
More CI cleanup, add style workflow ( #107 )
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- Changes on the `test.yml` workflow:
- Using poetry instead of pip. Contrary to what I wrote in #75 , it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`.
- Reduce the trigger scope to only run when files in these directories are modified:
- `lerobot/`
- `tests/`
- `examples/`
- `.github/`
- Add `style.yml` workflow for doing a `ruff check` pass on the code
- More cleanup (removed deprecated workflow)
2024-04-27 09:37:56 +02:00
45f351c618
Make sure targets are normalized too ( #106 )
2024-04-26 11:18:39 +01:00
b980c5dd9e
CI nightlies cpu/gpu & cleanup ( #75 )
2024-04-25 14:58:39 +02:00
659c69a1c0
Refactor datasets into LeRobotDataset ( #91 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 12:23:12 +02:00
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
ac0ab27333
Hotfix test_examples.py ( #87 )
2024-04-19 12:36:04 +02:00
8d980940a2
Fix tolerance for delta_timestamps ( #84 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-18 18:48:22 +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
d5c4b0c344
Merge pull request #80 from huggingface/alexander-soare/unify_policy_api
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Unify policy API
2024-04-17 17:05:22 +01:00
dd9c6eed15
Add temporary patch in TD-MPC
2024-04-17 16:27:57 +01:00
2298ddf226
wip
2024-04-17 16:21:37 +01:00
63e5ec6483
revert some formatting changes
2024-04-17 11:40:49 +01:00
c50a13ab31
draft
2024-04-17 10:50:54 +01:00
18dd8f32cd
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-17 09:10:30 +01:00
6d78bca749
Merge pull request #77 from huggingface/alexander-soare/fix_save_stats
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Fix issue with saving freshly computed stats
2024-04-17 09:09:18 +01:00
296bbfe1ad
Merge branch 'fix_stats_saving' into unify_policy_api
2024-04-17 09:08:04 +01:00
c9454333d8
revision
2024-04-17 09:02:35 +01:00
1331d3b4e4
fix issue with saving freshly computed stats
2024-04-17 08:49:28 +01:00
bff4b673c9
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-17 08:08:57 +01:00
3f1c322d56
Merge pull request #73 from huggingface/user/rcadene/2024_04_14_hf_datasets
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Use Hugging Face datasets.Dataset
2024-04-16 21:54:37 +02:00
fbc31d906c
Merge pull request #74 from huggingface/user/aliberts/2024_04_15_setup_contributions
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Setup contributions
2024-04-16 19:51:13 +02:00
4057cc6c28
Apply suggestions from code review
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Various fixes for #74
Co-authored-by: Remi <re.cadene@gmail.com>
2024-04-16 19:35:01 +02:00
Simon Alibert
Remi
Alexander Soare
Adil Zouitine
Quentin Gallouédec