Francesco Capuano
f3d931e1b2
Add direct access to action chunks ( #1020 )
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* fix: sharing predicted chunk with user
* [pre-commit.ci] pre-commit autoupdate (#1011 )
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* Revert "[pre-commit.ci] pre-commit autoupdate" (#1025 )
* fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (#1022 )
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* fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (#1030 )
* Update tutorial (#1021 )
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* Add description motor order SO-101 leader (#1051 )
* feat(encoding): switching to PyAV for ffmpeg related tasks (#983 )
* feat(docs): Add new docs build process (#1046 )
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* Docs: adapt text + fix video code (#1064 )
* Fix typos (#1070 )
* docs: minor corrections and clean-up (#1089 )
* Update 10_use_so100.md; use diff syntax (#944 )
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* Update 12_use_so101.md (#1081 )
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* bug fix for #1071 When --display_data=true, Failed running control_robot. (#1073 )
* Add editable -e for feetech install command (#1133 )
* Fix: emptying action queue between resets (#1117 )
* fix: typos and grammar (#1148 )
* Update README.md (#1160 )
* Update README.md (#1163 )
* [Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 (#1127 )
* (hotfix): nightly CI by clipping pymunk version below 7.0.0 (#1182 )
* [pre-commit.ci] pre-commit autoupdate (#1048 )
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* Add SmolVLA (#1175 )
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* Fix SmolVLA loss not sent to wandb (#1198 )
* Hardware API redesign (#777 )
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* fix(smolvla): update record.py, fix populate_queues and remove unused dependencies (#1208 )
* replaced OBS_ROBOT with OBS_STATE constant (#1211 )
* Fix test_teleoperate (#1216 )
* Fix LeKiwi example (#1217 )
* Fix smolVLA dependencies (#1218 )
* fix(pyserial): adding pyserial dependency to global ones (#1219 )
* Update SmolVLA README.md (#1228 )
* Fix unable to set camera width/height to non-default (#1225 )
* Update tutorial link (#1250 )
* update KochFollower.get_observation() so it returns same observation structure as SO101 (#1248 )
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* [pre-commit.ci] pre-commit autoupdate (#1185 )
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* Proposal for fix for enter_pressed on Windows (#1230 )
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* fix: update pi0 dependency version constraint (#1247 )
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* Match motor names with ids lekiwi (#1261 )
* fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (#1256 )
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* fix(docs): update realsense documentation (#1268 )
* Use HF Papers (#1120 )
* Skip normalization parameters in load_smolvla (#1274 )
* fix(record): no teleop needed when running with policy (#1284 )
* Port HIL SERL (#644 )
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* fix(docs): SmolVLA fine-tuning getting started (#1201 )
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* chore(teleop): print calibration path saved (#1286 )
* chore(dependencies): add gamepad support with pygame and hidapi (#1287 )
* Robot integration tutorial (#1285 )
* fix(docs): update send_feedback docstrings
* Add sim tutorial, fix lekiwi motor config, add notebook links (#1275 )
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* Fixes on robot integration tutorial (#1290 )
* Add keyboard teleop device to control the end effector robot (#1289 )
* Improve type hints (#1293 )
* fix(record): no teleop arg in reset environment (#1294 )
* `learner.py` import so101_leader instead of so100 (#1295 )
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
* Fixing `PI0` Policy (#1297 )
* `gym_manipulator.py` Remove None value action_intervention of BaseLeaderTeleoperator (#1299 )
* (chore): incorrect resume parameter in recording documentation (#1301 )
* Update lekiwi.mdx (#1229 )
* bump `pi0` and `hil` transformers version (#1298 )
* docs: fix imitation learning robots docs command (#1308 )
* fix(benchmarks): remove .numpy() from frame in benchmark script (#1354 )
* add smolvla to the supported policies to run tests (:
* add: chunk-level access for the policy
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* add: smolvla in availables
* remove: smolvla from library supported policies
* fix: change env for training, xarm is broken as of now
* add: predict_action_chunk to all supported policies
* fix: add robot type constants
* add: predict action chunk in base policy class
* restore original Makefile
* fix: minor
* fix: dict keys come from lerobot/constants
* fix: improve act encapsulation, properly supporting temporal ensembling
* fix: smolvla action chunking
* fix: very minor, but very annoying
* fix: minor
* fix minor naming
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Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
* fix: refactoring inference for single actions and chunks into different components
* fix: minor
* fix: temporal ensembling
* fix: moving populate queues out of modular component for batch preparation
* fix: minor for CI
* fix: smovla debug
* fix: reward classifier, maybe the last policy lacking?
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Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
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2025-06-27 10:19:19 +02:00
Quentin Gallouédec
edfebd522c
Use HF Papers ( #1120 )
2025-06-12 09:58:59 +02:00
Simon Alibert
e23b41e79a
Hardware API redesign ( #777 )
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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
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Co-authored-by: Pepijn <pepijn@huggingface.co>
2025-06-05 17:48:43 +02:00
mshukor
1c873df5c0
Support for PI0+FAST ( #921 )
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2025-04-04 11:51:11 +02:00
Simon Alibert
a1809ad3de
Add typos checks ( #770 )
2025-02-25 23:51:15 +01:00
Simon Alibert
c4c2ce04e7
Update pre-commits ( #733 )
2025-02-15 15:51:17 +01:00
Simon Alibert
90e099b39f
Remove offline training, refactor train.py and logging/checkpointing ( #670 )
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Co-authored-by: Remi <remi.cadene@huggingface.co>
2025-02-11 10:36:06 +01:00
Remi
638d411cd3
Add Pi0 ( #681 )
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2025-02-04 18:01:04 +01:00
Simon Alibert
3c0a209f9f
Simplify configs ( #550 )
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2025-01-31 13:57:37 +01:00
NielsRogge
86bbd16d43
Improve discoverability on the hub ( #325 )
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2024-08-19 15:16:46 +02:00
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
Wael Karkoub
54c9776bde
Improves Type Annotations ( #252 )
2024-06-10 19:09:48 +01:00
Remi
d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 ( #228 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-31 15:31:02 +02:00
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
Ikko Eltociear Ashimine
0ea7a8b2a3
refactor: update configuration_tdmpc.py ( #153 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-05-08 18:13:51 +01:00
Simon Alibert
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
Simon Alibert
c015252e20
Remove batch length restrictions in select_action ( #123 )
2024-05-04 15:33:55 +02:00
Alexander Soare
d1855a202a
Refactor TD-MPC ( #103 )
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2024-05-01 16:40:04 +01:00
Simon Alibert
7ad1909641
Tests cleaning & simplification ( #81 )
2024-04-18 14:47:42 +02:00
Alexander Soare
dd9c6eed15
Add temporary patch in TD-MPC
2024-04-17 16:27:57 +01:00
Cadene
06573d7f67
online training works (loss goes down), remove repeat_action, eval_policy outputs episodes data, eval_policy uses max_episodes_rendered
2024-04-10 11:34:01 +00:00
Cadene
6902e01db0
tests are passing for aloha/act policies, removes abstract policy
2024-04-09 03:28:56 +00:00
Cadene
73dfa3c8e3
tests for tdmpc and diffusion policy are passing
2024-04-09 02:50:32 +00:00
Cadene
70aaf1c4cb
test_datasets.py are passing!
2024-04-08 14:16:57 +00:00
Cadene
4371a5570d
Remove latency, tdmpc policy passes tests (TODO: make it work with online RL)
2024-04-07 16:01:22 +00:00
Cadene
f56b1a0e16
WIP tdmpc
2024-04-05 13:40:31 +00:00
Alexander Soare
1a1308d62f
fix environment seeding
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add fixes for reproducibility
only try to start env if it is closed
revision
fix normalization and data type
Improve README
Improve README
Tests are passing, Eval pretrained model works, Add gif
Update gif
Update gif
Update gif
Update gif
Update README
Update README
update minor
Update README.md
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Update README.md
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Address suggestions
Update thumbnail + stats
Update thumbnail + stats
Update README.md
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Add more comments
Add test_examples.py
2024-03-26 10:10:43 +00:00
Simon Alibert
4631d36c05
Add get_safe_torch_device in policies
2024-03-20 18:38:55 +01:00
Alexander Soare
896a11f60e
backup wip
2024-03-19 18:50:04 +00:00
Alexander Soare
88347965c2
revert dp changes, make act and tdmpc batch friendly
2024-03-18 19:18:21 +00:00
Alexander Soare
ba91976944
wip: still needs batch logic for act and tdmp
2024-03-14 15:24:10 +00:00
Simon Alibert
134009f337
Remove init files
2024-03-10 16:38:49 +01:00
Simon Alibert
59397fb44a
Move tdmpc files
2024-03-09 18:44:36 +01:00
