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 )
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
* 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
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
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
Pepijn
e8159997c7
User/pepijn/2025 03 17 act different image shapes ( #870 )
2025-03-18 11:09:05 +01:00
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
Simon Alibert
3c0a209f9f
Simplify configs ( #550 )
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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
Jack Vial
b2896d38f5
fix(act): n_vae_encoder_layers config parameter wasn't being used ( #400 )
2024-09-02 18:29:27 +01:00
NielsRogge
86bbd16d43
Improve discoverability on the hub ( #325 )
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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
abbb1d2367
Make sure policies don't mutate the batch ( #323 )
2024-07-22 20:38:33 +01:00
Alexander Soare
c0101f0948
Fix ACT temporal ensembling ( #319 )
2024-07-16 10:27:21 +01:00
Alexander Soare
471eab3d7e
Make ACT compatible with "observation.environment_state" ( #314 )
2024-07-11 13:12:22 +01:00
Thomas Wolf
48951662f2
Bug fix: missing attention mask in VAE encoder in ACT policy ( #279 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-06-19 12:07:21 +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
57fb5fe8a6
Improve documentation on VAE encoder inputs ( #215 )
2024-05-30 19:16:44 +02:00
Alexander Soare
5ec0af62c6
Explain why n_encoder_layers=1 ( #193 )
2024-05-17 15:05:40 +01:00
Alexander Soare
625f0557ef
Act temporal ensembling ( #186 )
2024-05-17 14:57:49 +01:00
Alexander Soare
4d7d41cdee
Fix act action queue ( #185 )
2024-05-16 15:43:25 +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
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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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 )
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Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-01 16:17:18 +01:00
Alexander Soare
01d5490d44
Follow transformers single file naming conventions ( #124 )
2024-05-01 13:09:42 +01:00
Alexander Soare
986583dc5c
Nest ACT model in ACT Policy ( #122 )
2024-04-30 17:17:40 +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 )
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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
Quentin Gallouédec
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
Alexander Soare
ccffa9e406
Fix policy defaults ( #113 )
2024-04-29 08:26:59 +01:00
Simon Alibert
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
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 )
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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 11:47:38 +02:00
Alexander Soare
2298ddf226
wip
2024-04-17 16:21:37 +01:00
Alexander Soare
63e5ec6483
revert some formatting changes
2024-04-17 11:40:49 +01:00
Alexander Soare
c50a13ab31
draft
2024-04-17 10:50:54 +01:00
Alexander Soare
cb3978b5f3
backup wip
2024-04-16 18:12:39 +01:00
Alexander Soare
0eb899de73
Merge remote-tracking branch 'upstream/main' into unify_policy_api
2024-04-16 17:30:41 +01:00
Alexander Soare
a9496fde39
revision 1
2024-04-16 17:15:51 +01:00
Alexander Soare
23be5e1e7b
backup wip
2024-04-16 16:31:44 +01:00
Alexander Soare
03b08eb74e
backup wip
2024-04-16 12:51:32 +01:00
Alexander Soare
5608e659e6
backup wip
2024-04-15 19:06:44 +01:00
Alexander Soare
30023535f9
revision 1
2024-04-15 10:56:43 +01:00
Alexander Soare
ef4bd9e25c
Use dataclass config for ACT
2024-04-15 09:39:23 +01:00
Alexander Soare
34f00753eb
remove policy.py
2024-04-12 17:13:25 +01:00
Alexander Soare
55e484124a
draft pr
2024-04-12 17:03:59 +01:00
Alexander Soare
e6c6c2367f
Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act
2024-04-09 08:36:28 +01:00
Cadene
6902e01db0
tests are passing for aloha/act policies, removes abstract policy
2024-04-09 03:28:56 +00:00
Alexander Soare
0b4c42f4ff
typos
2024-04-08 14:59:37 +01:00
Alexander Soare
62b18a7607
Add type hints
2024-04-08 14:51:45 +01:00
