Francesco Capuano
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f3d931e1b2
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Add direct access to action chunks (#1020)
* fix: sharing predicted chunk with user
* [pre-commit.ci] pre-commit autoupdate (#1011)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Revert "[pre-commit.ci] pre-commit autoupdate" (#1025)
* fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (#1022)
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
* 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)
Co-authored-by: Mishig Davaadorj <dmishig@gmail.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
* 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)
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
* Update 12_use_so101.md (#1081)
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
* 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)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* Add SmolVLA (#1175)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: fracapuano <francesco.capuano@huggingface.co>
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Co-authored-by: Remi <remi.cadene@huggingface.co>
* Fix SmolVLA loss not sent to wandb (#1198)
* Hardware API redesign (#777)
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
* 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)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* [pre-commit.ci] pre-commit autoupdate (#1185)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* Proposal for fix for enter_pressed on Windows (#1230)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
* fix: update pi0 dependency version constraint (#1247)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Match motor names with ids lekiwi (#1261)
* fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (#1256)
Co-authored-by: danaaubakirova <d.aubakirova@alumni.edu.kz>
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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
* 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)
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Ke Wang <superwk1017@gmail.com>
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Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
* fix(docs): SmolVLA fine-tuning getting started (#1201)
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: danaaubakirova <d.aubakirova@alumni.edu.kz>
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Co-authored-by: Francesco Capuano <francesco_capuano@aol.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
* 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)
Co-authored-by: AdilZouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
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Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* 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?
---------
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
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Co-authored-by: David <17435126+DavidLMS@users.noreply.github.com>
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2025-06-27 10:19:19 +02:00 |
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Quentin Gallouédec
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edfebd522c
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Use HF Papers (#1120)
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2025-06-12 09:58:59 +02:00 |
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Simon Alibert
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e23b41e79a
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Hardware API redesign (#777)
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
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2025-06-05 17:48:43 +02:00 |
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Simon Alibert
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90e099b39f
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Remove offline training, refactor train.py and logging/checkpointing (#670)
Co-authored-by: Remi <remi.cadene@huggingface.co>
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2025-02-11 10:36:06 +01:00 |
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Simon Alibert
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3c0a209f9f
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Simplify configs (#550)
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
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2025-01-31 13:57:37 +01:00 |
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Hirokazu Ishida
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538455a965
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feat: enable to use multiple rgb encoders per camera in diffusion policy (#484)
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
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2024-10-30 11:00:05 +01:00 |
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NielsRogge
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86bbd16d43
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Improve discoverability on the hub (#325)
Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
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2024-08-19 15:16:46 +02:00 |
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Halvard Bariller
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7a3cb1ad34
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Adjust the timestamps' description in Diffusion Policy (#343)
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
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2024-07-26 12:47:03 +01:00 |
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Alexander Soare
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abbb1d2367
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Make sure policies don't mutate the batch (#323)
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2024-07-22 20:38:33 +01:00 |
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Alexander Soare
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cc2f6e7404
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Train diffusion pusht_keypoints (#307)
Co-authored-by: Remi <re.cadene@gmail.com>
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2024-07-09 12:35:50 +01:00 |
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Jihoon Oh
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b72d574891
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fix Unet global_cond_dim to use state dim, not action dim (#278)
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2024-06-17 15:17:28 +01:00 |
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Alexander Soare
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15dd682714
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Add multi-image support to diffusion policy (#218)
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2024-06-17 08:11:20 +01:00 |
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Alexander Soare
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cf15cba5fc
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Remove redundant slicing operation in Diffusion Policy (#240)
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2024-06-03 13:04:24 +01:00 |
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Alexander Soare
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3d625ae6d3
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Handle crop_shape=None in Diffusion Policy (#219)
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2024-05-28 18:27:33 +01:00 |
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Radek Osmulski
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3b86050ab0
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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>
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2024-05-27 09:06:26 +01:00 |
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Akshay Kashyap
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c9069df9f1
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Port SpatialSoftmax and remove Robomimic dependency (#182)
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
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2024-05-16 15:34:10 +01:00 |
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Alexander Soare
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68c1b13406
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Make policies compatible with other/multiple image keys (#149)
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2024-05-16 13:51:53 +01:00 |
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Simon Alibert
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f52f4f2cd2
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Add copyrights (#157)
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2024-05-15 12:13:09 +02:00 |
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Akshay Kashyap
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460df2ccea
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Support for DDIMScheduler in Diffusion Policy (#146)
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2024-05-08 18:05:16 +01:00 |
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Alexander Soare
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f5de57b385
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Fix SpatialSoftmax input shape (#150)
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2024-05-08 14:57:29 +01:00 |
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Alexander Soare
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a8e245fb31
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Remove loss masking from diffusion policy (#135)
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2024-05-06 07:27:01 +01:00 |
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Alexander Soare
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f3bba0270d
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Remove EMA model from Diffusion Policy (#134)
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2024-05-05 11:26:12 +01:00 |
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Simon Alibert
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c015252e20
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Remove batch length restrictions in select_action (#123)
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2024-05-04 15:33:55 +02:00 |
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Alexander Soare
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d1855a202a
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Refactor TD-MPC (#103)
Co-authored-by: Cadene <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
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2024-05-01 16:40:04 +01:00 |
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Alexander Soare
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a4891095e4
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Use PytorchModelHubMixin to save models as safetensors (#125)
Co-authored-by: Remi <re.cadene@gmail.com>
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2024-05-01 16:17:18 +01:00 |
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Alexander Soare
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01d5490d44
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Follow transformers single file naming conventions (#124)
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2024-05-01 13:09:42 +01:00 |
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Quentin Gallouédec
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508bd92d03
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Remove update method from the policy (#99)
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
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2024-04-29 12:27:58 +02:00 |
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Alexander Soare
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ccffa9e406
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Fix policy defaults (#113)
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2024-04-29 08:26:59 +01:00 |
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Simon Alibert
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791506dfb8
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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`
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2024-04-29 00:31:33 +02:00 |
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Alexander Soare
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45f351c618
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Make sure targets are normalized too (#106)
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2024-04-26 11:18:39 +01:00 |
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Remi
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e760e4cd63
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Move normalization to policy for act and diffusion (#90)
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
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2024-04-25 11:47:38 +02:00 |
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Alexander Soare
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2298ddf226
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wip
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2024-04-17 16:21:37 +01:00 |
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Alexander Soare
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a9496fde39
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revision 1
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2024-04-16 17:15:51 +01:00 |
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Alexander Soare
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9c2f10bd04
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ready for review
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2024-04-16 13:43:58 +01:00 |
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Alexander Soare
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03b08eb74e
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backup wip
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2024-04-16 12:51:32 +01:00 |
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Alexander Soare
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5608e659e6
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backup wip
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2024-04-15 19:06:44 +01:00 |
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