* feat(ffmpeg): updating ffmpeg verion to 8.X
* Revert "feat(ffmpeg): updating ffmpeg verion to 8.X"
This reverts commit bb0f03185c.
* chore(pyproject): updating pyproject to fit the minimally required version of torchcodec
* chore(docs): updating doc with specific instructions for ffmpeg/torchcodec installation
* fix(typo): reverting ceiling bound on pytorch to 2.11.0
* chore(format): removing empty line
* chore(typo): fixing typo
* chore(docs): adding warning in case of torchcodec/ffmpeg version mismatch
* chore(docs): applying comments
* chore(docs): adding uv commands for evdev on WSL
* fix(typo): fixing typo
* fix(typo): fixing typos again
* chore(ruff): format
* fix(evdev install): splitting evdev install instructions between conda and uv
* chore(ruff): format
---------
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* Add multitask diffusion transformer policy
Add multitask diffusion transformer policy
* expand the observation encoder to support differnt size encoders for vision and text
* add RoPE attention module as this is shown to help training dynamics and generation quality for DiTs
* update readme and citations for multitask dit policy
* remove dino vision encoder and simplify text and vision encoders by removing inheritance structure
* adjust factory comment
* update docstring for multitask dit policy processor file
* simplify config for multitask dit by merging and flattening everything, then adding comments to denote where some parameters are only used for specific objectives
* add references to the modeling file comments
* merge all modules files into the main modeling file
* add torch.no_grad decorators
* split up select action return statement
* remove redundant asserts
* add tutorial to training with multi_task_dit
* fix bugs when testing on hardware
* remove environment state conditioning
* update typo in test instruction comment
* add processor tests to multitask dit tests
* move policy to top of file
* use constants for indexing into batches and remove env state references
* remove the base classes since we don't need to be able to extend
* fix nit formatting in generate actions fcn
* reformat and clean up tutorial for multitask dit policy
* add more descriptions and depth to multitask dit tutorial
* note origins of each training objective
* rename config param for multiple vision encoders
* refactor code to perform task tokenization in the processor instead of in the modeling code for multitask dit
* add multitask dit to toc for docs
* add conditional transformers import to match all other policies that use transformers lib
* add test handling for multitask dit when transformers isnt available
* skip tests without transformers
* remove cropping of images smaller than the crop size
* add kwargs arg to multitask dit constructor
* add wallx dep conflict management for multitask dit policy
* use hyphens for cleanliness in pyproject.toml
* add conflict management to pyproject toml for pi conflict for mtdp as well
* update tests script to not use unnecessary uv sync call which resolves dependencies that do not need to run. This drastically reduces CI run time
* revert fast tests edits
* update docs and readme files, fixing some typos and adding multitask dit to readme
* chore(dependencies): upgrade transformers + hggingface-hub + peft + scipy
* chore(dependencies): bump pi0 family to transformers v5
* chore(dependencies): bump wall x to transformers v5
* chore(dependencies): bump gr00t to transformers v5
* chore(style): fix pre-commit
* fix(policy): xvla forced_bos_token missing
* test(rl): skip ci tests for resnet10
* Fix: full pi models support for transformer v5 (#2967)
* fix(pi): remove loss truncation
* fix(pi): remove state padding before tokenization
* fix(pi): fix image padding value
* fix from_pretrain
* add transformer v5 changes
* remove reference
* more fixes
* make it work
* add support for rest of pi family
* add pifast work
* more changes
* more changes
* more cleanup
* fix torch params
* dtype fix
* torch compile
* embed mismatch fix
* revert groot
* more nit fixes
* remove unused classes
* more fixes
* revert
* nit
* torch dtype warning fix
* but back dynamic renaming
* add tie embedding
---------
Co-authored-by: Yufei Sun <skieyfly@gmail.com>
* chore: fix XVLA in transformers v5 (#3006)
* test(policies): enable wall x CI testing
* style(test): pre-commit check
* style(test): pre-commit
---------
Signed-off-by: Bryson Jones <63133702+brysonjones@users.noreply.github.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: Yufei Sun <skieyfly@gmail.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
1. Include metaworld_config.json in package distributions by adding it to
both MANIFEST.in (for sdist) and pyproject.toml package-data (for wheels).
Without this, pip-installed lerobot raises FileNotFoundError when
importing the metaworld environment.
2. Fix crash in sanity_check_dataset_name where the error message accesses
policy_cfg.type when policy_cfg is None, raising AttributeError instead
of the intended ValueError.
Fixes#2958
* feat(motors): add initial implementation of robstride
Co-authored-by: Virgile <virgilebatto@gmail.com>
* chore(motors): solve some linter
* remove kp/kd attribute
* code uniformisation between damiao and robstride
* remove normalization warning
* remove non valid baudrates and small docstring update
* remove all useless files. Only keeping robstride.py and table.py
* typing for mypy
* reduce NameOrId usage
* align signature with damiao
* put the same helper than in the damiao implementation
* bug correction : expect a response after each bus.send
---------
Co-authored-by: Virgile <virgilebatto@gmail.com>
* fix: ensure motors module passes MyPy type checks
This commit fixes 62 mypy type errors in the motors module by:
- Updating Protocol classes (PortHandler, PacketHandler, GroupSyncRead,
GroupSyncWrite) to use class-level attribute declarations instead of
__init__ body declarations
- Adding missing `broadcastPing` method to PacketHandler Protocol
- Fixing return type annotations (e.g., `_get_motor_model` returns str, not int)
- Fixing parameter types to use `Sequence` for covariant list parameters
- Fixing `Mapping` for covariant dict value types in `_normalize`
- Updating method signatures to be consistent across parent and child classes
(disable_torque, enable_torque, _get_half_turn_homings)
- Adding explicit `int()` casts for MotorCalibration arguments
- Adding explicit `return None` for functions returning Optional types
- Adding type annotations for variables like `data_list: dict[int, int]`
- Using `# type: ignore[method-assign]` for intentional monkeypatch
- Fixing variable references (using `self.groups` instead of `groups`)
Fixes#1723🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
* chore(style): pre-commit after main merge
* chore(linter): solve comments
* chore(linter): apply pre-commit fixes to damiao
* chore(linter): more fixes to damiao
---------
Co-authored-by: yurekami <yurekami@users.noreply.github.com>
Co-authored-by: Claude Opus 4.5 <noreply@anthropic.com>
* fix(motors): cleanup imports + fix signatures
* feat(motors): add damiao canbus + multiple fixes
* fix(motors): address comments -> last_state + different gains + sleep
* refactor(motors): reduce duplicated code + adressed some comments in the PR
* chore(motors): better timeouts
* tests(motors): damiao test and imports
* chore(deps): fix space
* feat(robot): add openarm leader
Co-authored-by: Pepijn <pepijn@huggingface.co>
* feat(robot): add openarm follower
Co-authored-by: Pepijn <pepijn@huggingface.co>
* refactor(robot): remove mechanical compensations and double arm assumption + rename
* chore(robots): remove left arm references
* refactor(teleop): multiple improvements to leader
* refactor(teleop): multiple improvements to leader
* feat(robots): add open arm to util CLI
* chore(robot): add alias openarm
* Apply suggestions from code review
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(motors): remove normalization tables damiao
* fix(motors): imports and signatures
* feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id
* chore(motors): remove normalize from base motor class and damaio
* tests(motors): remove bad tests (to be replaced)
* chore(motors): updated import check
* fix(robots): open arm mirrored config for joint limits
* chore(motors): update position_kd gain values
* chore(robots): set to 0 if openarm is calibrated at connect time
* chore(robots): remove macos in open arm as can doesn't support it
* chore(robots): update for motor_type_str in Motor class
* chore(robots): no default value for can port in open arms
* use constant for kp and kd range and check responses in mit_control_batch()
* Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command
* precommit format
* supress bandit as these are intentional cli commands
* fix setup-can
* add test
* skip test in ci
* nit precommit
* update doc example
* dont import can for tests
* remove comment
* Add openarms docs
* format
* update purchase link
* can to none if nit availabl;e
* add canfd option in bus
* make handshake logic similar to lerobot-can
* type hint
* type check
* add temp teleop test
* remove script
* mock class
* ignore linter
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
* fix(motors): cleanup imports + fix signatures
* feat(motors): add damiao canbus + multiple fixes
* fix(motors): address comments -> last_state + different gains + sleep
* refactor(motors): reduce duplicated code + adressed some comments in the PR
* chore(motors): better timeouts
* tests(motors): damiao test and imports
* chore(deps): fix space
* Apply suggestions from code review
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
* chore(motors): remove normalization tables damiao
* fix(motors): imports and signatures
* feat(motors): add motor_type_str + recv_id to motor class and _get_motor_recv_id raises if no motor_obj.recv_id
* chore(motors): remove normalize from base motor class and damaio
* tests(motors): remove bad tests (to be replaced)
* chore(motors): updated import check
* use constant for kp and kd range and check responses in mit_control_batch()
* Add docs on setting up canbus and use damiao otor bus, also add lerobot_setup_can.py and log if there is not response from a write command
* precommit format
* supress bandit as these are intentional cli commands
* fix setup-can
* add test
* skip test in ci
* nit precommit
* update doc example
* dont import can for tests
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
* Add basic support for PEFT adapter methods
This changes adds support for training policies with much less parameters
by applying adapter methods such as LoRA on specific parts of the policies
and therefore possibly higher learning rates / batch sizes.
To make this as accessible as possible I thought it useful to provide
defaults for `target_modules` and `modules_to_save`. Currently only SmolVLA
has such defaults but when we agree that this change is useful I will set
out to generate more such defaults. While the user can override these
settings, they are expected to only change the peft_method, rank and init_type
parameters.
* Implement loading of PEFT adapters
Loading a PEFT adapter is currently done by initializing a policy with default config
and then applying the adapter on the resulting model. This has the obvious drawback
that any configurations done during training are not applied in the adapted model.
Currently the `use_peft` attribute of `PreTrainedConfig` is only set during loading
to signal the following code that it has to deal with a PEFT adapter. However
we could imagine a scenario where this is already set at training time and stored
alongside the adapter.
* Store policy config alongside PEFT checkpoint
Before this change the PEFT-wrapped policy did not save the policy's config
alongside the adapter config / weights which prevented us from changing the
policy config. Now the policy config is saved both in full training and PEFT
training.
This change makes loading the PEFT policy adapter much easier as well.
* Add default config for ACT
* Support targets like `all-linear`
* Formatting
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Fix failing tests
* Remove PEFT compatibility changes in config
We'll wait for the PEFT release that fixes this for good.
* Remove `use_peft` parameter from training script
Instead we make the PEFT config optional which has the same effect.
* Log adapter config to WandB
* Better documentation for CLI arguments
* Don't unload & merge the PEFT model
This can make things hard when using quantized layers (user expects quantized base layers with
unquantized adapters for example, merging defaults to upcast the layers leading to higher
memory).
* Correct way of identifying when to save config
* Add CLI end-to-end tests
Currently there don't seem to be any way to test the CLI commands.
Since this change mostly happens in those I thought it best to add
a way to test these commands end-to-end.
More integrated commands like `lerobot-record` need patching but
standalone commands like training seem to work fine.
* Update default targets
Removed ACT since it doesn't make sense to fine-tune ACT without having it pretrained beforehand.
SmolVLA and Pi0/0.5 are much more senseful targets.
* Clean up loading code
- Centralized instantiation of the PEFT wrapper in `make_policy` for inference
(e.g. in `lerobot-record`)
- Training a PEFT policy also sets `cfg.use_peft` so that all inference code loading
the policy can rely on that attribute to identify if PEFT loading is needed
- Modified RTC example to also include PEFT policies. Mostly because this is an example
I'm currently exploring.
* Make sure push_to_hub works
Since PEFT only wraps `push_to_hub` and not `push_model_to_hub`, the reference
to `self` in `policy.push_model_to_hub` is the unwrapped policy which, of course,
doesn't know anything about PEFT.
To make the upload process aware of PEFT, we pass the unwrapped policy down to
`push_model_to_hub` as a kwarg. This is not ideal but I think it is the best way
for now.
* formatting
* Warn when encountering from-scratch-training
* Revamp pretrained model loading
There were quite a few factors that convinced me that the status quo
is able to load pretrained models from the PEFT adapter config but
in fact that didn't work.
This commit fixes the following things:
- policies wrapped in PEFT will now have a `name_or_path` attribute
containing the name or path of the pretrained model we're fine-tuning
- we further assume that SmolVLA without `pretrained_path` and
`load_vlm_weights==False` must be an user-side error
- we assume that using PEFT on from-scratch-policies must be
an user-side-error
* Make it possible to unset policy features
This is necessary to train pre-trained policies on new datasets so that the
features are inferred from the new dataset and not from the pretrained
policy.
* Use correct loading for PEFT in RTC example
* Make it possible to use PeftModels in eval
* Add test checking that PEFT actually reduces params
* Adapt state/action projections instead of full-finetuning
There doesn't seem to be a benefit to fully fine-tune these layers
over just adapting them, so we do that instead.
* Disallow PEFT training on non-pretrained policies
At first I thought it would make sense to have this feature
in case you want to fine-tune a pre-trained section but in the
end it makes more trouble than it's worth.
It's still possible to allow this in the future when a concrete
need arises.
* Add basic documentation
* Formatting
* Add peft as extra dependency, mark tests
Fast tests currently fail because of the missing dependency.
* Fix pre-commit issues
* Add walx <> peft conflict for uv
* Exclude peft from pi install for now
---------
Co-authored-by: nemo <git@ningu.net>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
* pi fixes for dependencies
* add walls sarm conflict
* also add conflicts for pi
* fix(ci): use --extra all instead of --all-extras + --no-extra
---------
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
* support wallx
* fix bugs in flow
* incorporate wallx model into lerobot
* update the policy methods
* reduce to least config and params & pass lerobot basic test
* fixed dtype bugs
* add wallx dependencies
* update
* remove flash-attn requirement && fix bug in inference and fast mode
* fix bug for inference
* add some small modifications
* fix pre-commit errors
* remove lerobot[wallx]
* fix ci
* fix precommit issues
* fix: exclude wallx extra properly in CI workflows
* fix: add uv conflicts for wallx transformers version
* fix: peft test import
* pre-commit
* only export WallXConfig from wall_x package to avoid peft import in CI
* remove torch dep
* precommit
* add import
---------
Co-authored-by: vincentchen <chenlufang@x2robot.com>
Co-authored-by: Geoffrey19 <sympathischmann35@gmail.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
* fix(optim): enable and resolve mypy type errors
Resolves#1729
build(deps): add mypy as dependency and update pre-commit hook
* change build's type annotation
* add initial modeling
* make rewind pretrained policy
* add annotation
* small fix
* add sarm
* subtasks
* fix spawn
* fix rewind discrepancies
* Add script to generate embedding for dataset (#2138)
* Add generate and validate script
* fix precommit
* Improve generate embeddings function by using dataset tools (#2206)
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
* cleanup
* change order train log
* print batch size
* update sarm processor
* add reward output
* change expected features
* add image validation
* change validation
* get state input from dataset stats
* raise if no state key is found
* pass stats
* cleanup and refactor
* add episode inddex to complementary data
* add subtask init and detection
* revert lerobot_train changes
* pass dataset metadata to policy
* change loadig subtasks
* add small logging
* fix progress conversion and adding initial frame
* use large offset for initial frame (ugly)
* Remove rewind, use clip tokenizer
* add tests, implement formula 1,2 correctly and cleanup
* use task from dataset, cleanup visualizer
* simplify
* simplify and cleanup code and move compute_temporal_proportions to utils
* fix normalization in visualization
* Fix visualization and change prompt
* fix formatting
* add visualize subtask annotations
* use qwen thinking
* try different prompt
* format
* update prompt
* higher temp, long output
* different settings
* use instruct
* show full resp
* split message
* Temp: increase tolerance dataset
* Fix RA-BC (#2572)
* Add next observation loading for RA-BC progress deltas
* Compute weights based on temporal progress deltas instead of static rewards
* Add hard-masking for negative progress deltas in weight computation
* Feat/add dual head (#2582)
* Add dual dense sparse head and annotation
* Add docs
* add dual to procesor
* cleanup
* change sampling in visualize and cleanup
* remove validation
* remove compile
* Feat/test uniform (#2587)
* test uniform
* add different string for misaligned
* Fix rewind and add tests
* uncomment text implementation
* run precommit
* Add head mode for ra-bc
* fix visalization of single task
* add
* return per sample loss
* Fix RA_BC (#2602)
* update rabc implementation
* compute rabc beforehand
* fix import
* add only progress calulation
* use precomputed progress
* multi gpu processing
* import
* fix dataset meta data extraction
* add logging
* logging
* log
* progress per episode
* split differently
* move clip to gpu
* pre decode frames for an episode
* fix cuda initalization
* fix import
* multi processing
* rename
* fix import
* fix
* fix rabc
* use last known progress if oob
* use last known progress if oob
* add misalignment loss with random embeddings
* discard previous changes
* add selection of models to docs for ra_bc
* add transformers dep
* extend tolerance
* initial commit with new codebase
* add tests
* fix
* remove temporal sampler
* drop last frame for sampler
* use original ref
* some fixes
* fix visualization
* remove smoothing and fix order subtasks
* add stride rabc computation
* add push to hub
* add explanation
* add kappa expllaination
* better rabc logging
* feedback pr
* remove dataset tolerance
* revert dataset tool
* revert dataset changes
* add credit
* run precommit
* change path for generate ra_bc
* fix type
* include sarm in all in pyproject
* fix precommit
* lazy import matplotlib
* lazy import qwen
* remove rich console
* skip if transformers is not installed?
* run only when we have faker
* place transformer lazy loading
* Dont test if low transformer version
* fix
* increase transformer
* increase as 4.57.0 is yanked
* remove pi from all
* go back
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
* upload
* feat(omx): simplify motor initialization and remove default calibration files
* feat(omx): read motor positions without normalization for improved accuracy
* update calibration method for return factory value
Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr>
* change the drive mode
* refactor: clean up code by removing unnecessary blank lines in omx_follower and omx_leader modules
* feat(omx): update calibration method to set drive modes for motors
* feat(pyproject): add 'ROBOTIS' to extend-ignore-identifiers-re list
* feat(omx): enhance calibration method to write default drive modes to motors
* Update src/lerobot/robots/omx_follower/__init__.py
Add informations about the robot
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com>
---------
Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr>
Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com>
Co-authored-by: Junha02 <chajunha2023@naver.com>
Co-authored-by: Junha Cha <ckwnsgk1@gachon.ac.kr>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* fix: update policy handling and type annotations
added typehint and addressed the error of mypy
* fix: rename should_push_to_hub to push_to_hub
I find that there are other dependencies of push_to_hub so I fix the property name back to original one.
* fix: typo
* fix: changed the position of try-except block
As the copilot said, use raise before `hf_hub_download` would stop program even it is able to download
* fix: update pre-commit configuration and mypy settings
add args: --follow-imports=silent to pass error which have no relationship with src/lerobot/configs
* fix: remove the specific path in .pre-commit-config.yaml
* feat: enhance typehint to adapt mypy strict mode.
* fix: remove duplicate FileNotFoundError check in PreTrainedConfig
* fix: make "pre-commit run --all-files" pass
* fix: replace logging with logger for better logging practices
* fix: fixed extra changes of lint and format changes
* fix: fixed extra changes out of "configs" module
* Update src/lerobot/configs/policies.py
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: tetsugo02 <131431116+tetsugo02@users.noreply.github.com>
* fix: add logging for scratch job
---------
Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
Signed-off-by: tetsugo02 <131431116+tetsugo02@users.noreply.github.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* feat(mypy-compliant): Ensure the model module passes MyPy type checks
* fix
* uncomment pyproject.toml for model module
* fix
* fix
---------
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Steven Palma