wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
745 Commits 131 Branches 0 Tags 244 MiB
Commit Graph

491 Commits

Author SHA1 Message Date
Jannik Grothusen 975c1c25c3
Add distinction between two unallowed cases in name check "eval_" (#489) 2024-11-22 19:19:57 +01:00
Daniel Ritchie 8af693548e
Add support for Windows (#494) 2024-11-22 19:14:25 +01:00
Hirokazu Ishida 538455a965
feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-10-30 11:00:05 +01:00
Remi 172809a502
[Fix] Move back to manual calibration (#488) 2024-10-26 15:27:21 +02:00
Remi 55e4ff6742
Fix autocalib moss (#486) 2024-10-26 12:15:17 +02:00
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
Alexander Soare cd0fc261c0
Make `say(blocking=True)` work for Linux (#460) 2024-10-17 15:22:21 +01:00
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
Eugene Mironov c29e70e5a1
Fix issue with wrong using index instead of camera_index in opencv (#466) 2024-10-09 11:35:19 +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 72f402d44b
Fix dataset card (#453) 2024-09-25 16:56:05 +02:00
Alexander Soare 92573486a8
Don't use async envs by default (#448) 2024-09-20 15:22:52 +02:00
Simon Alibert c712d68f6a
Fix nightlies (#443) 2024-09-18 14:51:45 +02:00
Dana Aubakirova f431a08efa
small fix: assertion error message in envs/utils.py (#426) 
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-09-12 18:03:34 +02:00
Remi beaa427504
Fix slow camera fps with Aloha (#433) 2024-09-12 14:20:24 +02:00
Mishig a88dd602d9
[Vizualization] Better error message (#430) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-12 10:46:48 +02:00
Mishig 6c0324f467
[Vizualization] Fix video layout (#431) 2024-09-12 10:06:29 +02:00
Alexander Soare a60d27b132
Raise ValueError if horizon is incompatible with downsampling (#422) 2024-09-09 17:22:46 +01:00
Mishig 9c463661c1
[Vizualization] Better UI on small screens (like in smartphones) (#423) 2024-09-09 15:39:40 +02:00
Mishig 4255655618
[Vizualization] Show user error if videos codec is not supported (#424) 2024-09-09 15:38:41 +02:00
Joe Clinton f17d9a2ba1
Bug: Fix VQ-Bet not working when n_action_pred_token=1 (#420) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-09-09 09:41:13 +01:00
Remi 9ff829a3a1
Add comments for Aloha (#417) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-06 21:07:52 +02:00
Mishig d6516f0e03
[Visualization tool] Fix when dim state != dim action (#415) 2024-09-06 17:07:26 +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
Mishig 1072a055db
[Visualization tool] Fix videos sync (#416) 2024-09-06 10:16:08 +02:00
Remi 9c9f5cac90
Add IntelRealSenseCamera (#410) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: shantanuparab-tr <shantanu@trossenrobotics.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-05 23:59:41 +02:00
Simon Alibert 9d0c6fe419
Fix nightlies & untrack json files from git lfs (#414) 2024-09-05 15:07:43 +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
Jack Vial 27ba2951d1
fix(tdmpc): Add missing save_freq to tdmpc policy config (#404) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-09-02 19:04:41 +01:00
Jack Vial b2896d38f5
fix(act): n_vae_encoder_layers config parameter wasn't being used (#400) 2024-09-02 18:29:27 +01:00
Mishig 114e09f570
rm EpisodeSampler from viz (#389) 2024-08-30 10:53:55 +02:00
Simon Alibert 04a995e7d1
Fix safe_action (#395) 2024-08-30 10:36:05 +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
Remi 1ce418e4a1
Add koch bimanual (#385) 2024-08-28 00:53:31 +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
Mishig aad59e6b6b
Fix videos in visualize_dataset are not in sync (#382) 2024-08-26 17:38:48 +02:00
Alexander Soare 9ce98bb93c
Add safety limits on relative action target (#373) 2024-08-26 14:30:18 +01:00
Alexander Soare 97086cdcdf
Make gripper_open_degree a config param (#379) 2024-08-26 12:28:16 +01:00
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
NielsRogge 86bbd16d43
Improve discoverability on the hub (#325) 
Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-08-19 15:16:46 +02:00
Alexander Soare 0f6e0f6d74
Fix input dim (#365) 2024-08-19 11:42:32 +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
Halvard Bariller 7a3cb1ad34
Adjust the timestamps' description in Diffusion Policy (#343) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-26 12:47:03 +01:00
Alexander Soare f8a6574698
Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Alexander Soare abbb1d2367
Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +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
Alexander Soare c0101f0948
Fix ACT temporal ensembling (#319) 2024-07-16 10:27:21 +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 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
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
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 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
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
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
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
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 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
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
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 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