chao.wu/Lerobot
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114 Commits

Author SHA1 Message Date
Pepijn
0b2285d1ec
Feat: Improve hub integration (#1382) 
* feat(policies): Initial setup to push policies to hub with tags and model card

* feat: add dataset that is used to train

* Add model template summary

* fix: Update link model_card template

* fix: remove print

* fix: change import name

* fix: add model summary in template

* fix: minor text

* fix: comments Lucain

* fix: feedback steven

* fix: restructure push to hub

* fix: remove unneeded changes

* fix: import

* fix: import 2

* Add MANIFEST.in

* fix: feedback pr

* Fix tests

* tests: Add smolvla end-to-end test

* Fix: smolvla test

* fix test name

* fix policy tests

* Add push to hub false policy tests

* Do push to hub cleaner

* fix(ci): add push_to_hub false in tests

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>
 2025-06-26 14:36:16 +02:00
mshukor
1c873df5c0
Support for PI0+FAST (#921) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-04 11:51:11 +02:00
Steven Palma
5e9473806c
refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Simon Alibert
a1809ad3de
Add typos checks (#770) 2025-02-25 23:51:15 +01:00
Simon Alibert
b86a2c0b47
Fix wandb logging (#730) 2025-02-14 18:00:12 +01:00
Simon Alibert
e71095960f
Fixes following #670 (#719) 2025-02-12 12:53:55 +01:00
Simon Alibert
90e099b39f
Remove offline training, refactor train.py and logging/checkpointing (#670) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-02-11 10:36:06 +01:00
Remi
638d411cd3
Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
Simon Alibert
3c0a209f9f
Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +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
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
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
Alexander Soare
f8a6574698
Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Alexander Soare
5f5efe7cb9
Improve error message when attempting to overwrite a training output folder (#322) 2024-07-16 16:50:31 +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
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
Wael Karkoub
54c9776bde
Improves Type Annotations (#252) 2024-06-10 19:09:48 +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
Radek Osmulski
504d2aaf48
add EpisodeAwareSampler (#217) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 13:43:47 +01:00
Alexander Soare
111cd58f8a
Add MultiLerobotDataset for training with multiple LeRobotDatasets (#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
Alexander Soare
e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +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
Alexander Soare
68c1b13406
Make policies compatible with other/multiple image keys (#149) 2024-05-16 13:51:53 +01:00
Simon Alibert
f52f4f2cd2
Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Alexander Soare
1249aee3ac
Enable logging all the information returned by the forward methods of policies (#151) 2024-05-10 07:45:32 +01:00
Simon Alibert
f5e76393eb
Release cleanup (#132) 
Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
 2024-05-06 03:03:14 +02:00
Alexander Soare
f3bba0270d
Remove EMA model from Diffusion Policy (#134) 2024-05-05 11:26:12 +01:00
Simon Alibert
c77633c38c
Add regression tests (#119) 
- 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
Alexander Soare
bccee745c3
Refactor eval.py (#127) 2024-05-03 17:33:16 +01:00
Alexander Soare
d1855a202a
Refactor TD-MPC (#103) 
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
Alexander Soare
a4891095e4
Use PytorchModelHubMixin to save models as safetensors (#125) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-01 16:17:18 +01:00
Alexander Soare
9d60dce6f3
Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Simon Alibert
2765877f28
Speed up CI, add more checks (#115) 
- 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
Quentin Gallouédec
508bd92d03
Remove update method from the policy (#99) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-29 12:27:58 +02:00
Simon Alibert
791506dfb8
Remove warnings (#111) 
- 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
Alexander Soare
45f351c618
Make sure targets are normalized too (#106) 2024-04-26 11:18:39 +01:00
Remi
e760e4cd63
Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +02:00
Remi
c1bcf857c5
Fix online training (#94) 2024-04-23 18:54:55 +02:00
Remi
1030ea0070
Loads episode_data_index and stats during dataset __init__ (#85) 
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
Alexander Soare
e2168163cd
Quality of life patches for eval.py (#86) 2024-04-19 12:33:47 +01:00
Simon Alibert
7ad1909641
Tests cleaning & simplification (#81) 2024-04-18 14:47:42 +02:00
Remi
0928afd37d
Improve dataset examples (#82) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-18 11:43:16 +02:00
Alexander Soare
bff4b673c9 Merge remote-tracking branch 'upstream/main' into unify_policy_api 2024-04-17 08:08:57 +01:00
Cadene
36d9e885ef Address comments 2024-04-16 17:20:54 +00:00
Cadene
c7a8218620 typo 2024-04-16 17:19:39 +00:00