Simon Alibert
2f8d98b05e
Update readme ( #1570 )
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* Cleanup badges
* Remove comment
* Remove profiling section
* Move acknowledgment
* Move citations
* Fix badge display
* Move build your robot section
* Fix nightly badge
* Revert be13b3f
* Update README.md
Co-authored-by: HUANG TZU-CHUN <tzu.chun.huang.tw@gmail.com>
Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
* chore(docs): optimize readme for PyPI rendering
* chore(docs): move policy readme to docs folder + symlink in policy dirs
* fix(docs): max width og lerobot logo + url in citation block
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Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: HUANG TZU-CHUN <tzu.chun.huang.tw@gmail.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
2025-08-01 17:39:39 +02:00
Yushun Xiang
71eff183ff
Fix pi0 checkpoint state map ( #1415 )
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Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
2025-07-30 17:38:32 +02:00
Abhay Deshpande
5695432142
fix(DiffusionPolicy): Fix bug where training without image features would crash with exception, fix environment state docs ( #1617 )
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* Fix bug in diffusion config validation when not using image features
* Fix DiffusionPolicy docstring about shape of env state
2025-07-29 13:40:16 +02:00
Michel Aractingi
c7c3b477d6
Fix sample beta for smolvla as done for pi0, remove sample_beta func ( #1611 )
2025-07-28 17:28:55 +02:00
Kleist Bond
4b88842d20
fix bug about sampling time from beta distribution ( #1605 )
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* fix bug about sampling t from beta distribution
* fix: address review comments
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2025-07-28 15:17:30 +02:00
Adil Zouitine
c3d5e494c0
fix(policies): remove action from batch for offline evaluation ( #1609 )
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* fix(policies): remove action from batch for offline evaluation in diffusion, tdmpc, and vqbet policies
* style(diffusion): correct comment capitalization for clarity in modeling_diffusion.py
2025-07-28 13:10:34 +02:00
Adil Zouitine
b61a4ded9a
chore(pi0fast): TODO comment to warn the need for removal ignore_index ( #1593 )
2025-07-28 11:49:05 +02:00
Adil Zouitine
615adfc48d
smolfix(vla): typing and fix offline inference when action in the batch ( #1597 )
2025-07-28 11:44:22 +02:00
Adil Zouitine
4c8f002055
fix(act): disable VAE during offline inference ( #1588 )
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Prevent VAE inference when running in offline mode. In the lerobot dataset, the presence of the 'action' field incorrectly triggers the VAE inference block. This leads to a RuntimeError due to mismatched tensor dimensions (3 vs 2) when concatenating cls_embed, robot_state_embed, and action_embed—since action_embed lacks the chunk_size dimension. Additionally, this aligns with the original paper, where variational inference is skipped during inference.
2025-07-24 17:09:12 +02:00
Michel Aractingi
17efa2ff8e
Add disclaimer to pi0 from_pretrained ( #1550 )
2025-07-21 10:57:35 +02:00
Steven Palma
378e1f0338
Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version ( #1520 )
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* chore: update .gitignore
* chore: update pre-commit
* chore(deps): update pyproject
* fix(ci): multiple fixes
* chore: pre-commit apply
* chore: address review comments
* Update pyproject.toml
Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(deps): add todo
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Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com>
2025-07-17 14:30:20 +02:00
Adil Zouitine
91b110d806
fix(mps): gradient exploding and nan loss issues with ACT ( #1490 )
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Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
2025-07-15 10:28:19 +02:00
Francesco Capuano
a5e0aae13a
Fixes @torch.no_grad() usage ( #1455 )
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* fix: decorator calls with parentheses
* fix no grad for normalize too
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
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Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
2025-07-08 13:08:32 +02:00
Simon Alibert
d4ee470b00
Package folder structure ( #1417 )
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* Move files
* Replace imports & paths
* Update relative paths
* Update doc symlinks
* Update instructions paths
* Fix imports
* Update grpc files
* Update more instructions
* Downgrade grpc-tools
* Update manifest
* Update more paths
* Update config paths
* Update CI paths
* Update bandit exclusions
* Remove walkthrough section
2025-07-01 16:34:46 +02:00
