ea36a4a176
chore(docs): new badge for readme ( #3303 )
2026-04-07 10:47:03 +02:00
50a1e67e94
feat(ci): add uv.lock ( #3292 )
...
* feat(ci): add uv.lock
* feat(ci): use uv.lock in CI PR testing
* chore(ci): rename nightly to docker publish and test
* feat(ci): automated update of uv.lock + remove unbound check + docker images now use uv.lock
* fix(ci): add --force-with-lease + set -e for silent erros
2026-04-06 12:23:37 +02:00
2e069b1c47
Feature/add multitask diffusion transformer policy implementation ( #2545 )
...
* 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 >
2026-03-28 00:41:26 +01:00
2d6259156b
fix(links): replacing relative links with absolute links in the contribution guide ( #3141 )
...
* fix(links): replacing relative links with absolute links in the contribution guide
* fix(links): replacing relative link in the README
2026-03-12 20:46:05 -07:00
c17d949531
chore(readme): update citation with ICLR26 paper ( #3107 )
...
* peer reviewed citation 🎉
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
* add iclr year
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
* fix quentin's spelling name
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
* docs(readme): update citation
---------
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
Co-authored-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
2026-03-08 14:01:43 +01:00
9ca680dce2
Update README.md ( #2827 )
...
Add Chinese doc link.
Signed-off-by: Tommy in Tongji <36354458+TommyZihao@users.noreply.github.com >
2026-01-20 17:54:24 +01:00
473f1bd0e0
docs: improve assets ( #2777 )
...
* add assets
* add libero results pifast:
* update
* update
* update size
* update naems:
:
* update training tokenizer
2026-01-12 13:33:28 +01:00
75ab388ecd
chore(readme): update discord invitation link ( #2750 )
2026-01-04 17:24:56 +01:00
2f6c870c4b
Fixes ReadMe Policies Classification ( #2682 )
...
* fix: tdmpc is a model-based RL method, does not learn from expert demonstrations so no IL there
* fix: typo
* remove trailing space
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
* fix: minor
---------
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
2025-12-20 17:11:02 +01:00
0bd1969d0a
feat(docs): modernize readme ( #2660 )
2025-12-18 19:45:13 +01:00
a5b29d4301
chore(installation): remove libero installation patch ( #2416 )
...
* chore(installation): remove libero installation patch
* fix(ci): exclude groot for unbound deps test
2025-11-10 11:51:52 +01:00
d11ec6b5ef
docs(readme): update installation instructions for 0.4.0 ( #2310 )
2025-10-24 17:31:37 +02:00
98662e5f24
chore(install): use miniforge instead of miniconda ( #2249 )
...
Co-authored-by: Silvio Traversaro <silvio@traversaro.it >
2025-10-19 19:19:21 +02:00
d6ea3bbce0
fix(docs): update example flags for lerobot-dataset-viz ( #2238 )
...
Co-authored-by: Yingjie Wei <yingjie.wei@cern.ch >
Co-authored-by: DWarez <ldwarezl@gmail.com >
2025-10-18 01:34:44 +02:00
52455d03a7
fix eval-related doc errors ( #2183 )
...
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-10-17 14:34:21 +02:00
5ac9356135
Update README.md to fix broken link to example notebook for visuals ( #2117 )
...
Folder structure of examples seems to have changed with extra `dataset` folder and the notebook has also changed names.
Signed-off-by: Iulia Feroli <iuliaferoli@gmail.com >
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
2025-10-07 09:43:32 +02:00
c435d3cebc
feat(script): add entry point for dataset viz ( #2006 )
...
* chore(scripts): rename script dataset viz
* feat(scripts): add entry point for dataset-viz
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
2025-09-23 18:46:27 +02:00
664c00b594
Update README.md ( #1989 )
...
Signed-off-by: Mohit <97352487+complete-dope@users.noreply.github.com >
2025-09-22 16:51:43 +02:00
62d6169d2f
fix formatting readme ( #1987 )
2025-09-19 20:21:23 +02:00
d65668ff3c
Add docs for LeRobot Image transforms ( #1972 )
...
* Remove unused scripts, add docs for image transforms and add example
* fix(examples): move train_policy.py under examples, remove outdated readme parts
* remove script thats copied to train folder
* remove outdated links to examples and example tests
2025-09-19 15:19:49 +02:00
f55c6e89f0
Dataset v3 ( #1412 )
...
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Co-authored-by: Remi Cadene <re.cadene@gmail.com >
Co-authored-by: Tavish <tavish9.chen@gmail.com >
Co-authored-by: fracapuano <francesco.capuano@huggingface.co >
Co-authored-by: CarolinePascal <caroline8.pascal@gmail.com >
2025-09-15 09:53:30 +02:00
ce3b9f627e
chore(docs): prioritize use of entry points in docs + fix nightly badge ( #1692 )
...
* chore(docs): fix typo in nightly badge
* chore(docs): prioritize the use of entrypoints for consistency
2025-08-07 14:25:44 +02:00
6daa579ce1
docs: update installation instructions ( #1686 )
2025-08-06 15:06:36 +02:00
06bebd97b3
fix(typo): fixing typo in LeRobot authors names ( #1673 )
2025-08-05 23:47:49 +02:00
2f8d98b05e
Update readme ( #1570 )
...
* Cleanup badges
* Remove comment
* Remove profiling section
* Move acknowledgment
* Move citations
* Fix badge display
* Move build your robot section
* Fix nightly badge
* Revert be13b3ftzu.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
---------
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
378e1f0338
Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version ( #1520 )
...
* 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
---------
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
039de254ea
Add Hope Jr ( #935 )
...
* Fix imports
* Add feetech write tests
* Nit
* Add autoclosing fixture
* Assert ping stub called
* Add CalibrationMode
* Add Motor in dxl robots
* Simplify split_int_bytes
* Rename read/write -> sync_read/write, refactor, add write
* Rename tests
* Refactor dxl tests by functionality
* Add dxl write test
* Refactor _is_comm_success
* Refactor feetech tests by functionality
* Add feetech write test
* Simplify _is_comm_success & _is_error
* Move mock_serial patch to dedicated file
* Remove test skips & fix docstrings
* Nit
* Add dxl operating modes
* Add is_connected in robots and teleops
* Update Koch
* Add feetech operating modes
* Caps dxl OperatingMode
* Update ensure_safe_goal_position
* Update so100
* Privatize methods & renames
* Fix dict
* Add _configure_motors & move ping methods
* Return models (str) with pings
* Implement feetech broadcast ping
* Add raw_values option
* Rename idx -> id_
* Improve errors
* Fix feetech ping tests
* Ensure motors exist at connection time
* Update tests
* Add test_motors_bus
* Move DriveMode & TorqueMode
* Update Koch imports
* Update so100 imports
* Fix visualize_motors_bus
* Fix imports
* Add calibration
* Rename idx -> id_
* Rename idx -> id_
* (WIP) _async_read
* Add new calibration method for robot refactor (#896 )
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
* Remove deprecated scripts
* Rename CalibrationMode -> MotorNormMode
* Fix calibration functions
* Remove todo
* Add scan_port utility
* Add calibration utilities
* Move encoding functions to encoding_utils
* Add test_encoding_utils
* Rename test
* Add more calibration utilities
* Format baudrate tables
* Implement SO-100 leader calibration
* Implement SO-100 follower calibration
* Implement Koch calibration
* Add test_scan_port (TODO)
* Fix calibration
* Hack feetech firmware bug
* Update tests
* Update Koch & SO-100
* Improve format
* Rename SO-100 classes
* Rename Koch classes
* Add calibration tests
* Remove old calibration tests
* Revert feetech hack and monkeypatch instead
* Simplify motors mocks
* Add is_calibrated test
* Update viperx & widowx
* Rename viperx & widowx
* Remove old calibration
* feat(teleop): thread-safe keyboard teleop implementation (#869 )
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
* Add support for feetech scs series + various fixes
* Update dynamixel with motors bus & tables changes
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* (WIP) Add Hope Jr
* Rename arm -> hand
* (WIP) Add homonculus arm & glove
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Add Feetech protocol version
* Implement read
* Use constants from sdks
* (nit) move write
* Fix broadcast ping type hint
* Add protocol 1 broadcast ping
* Refactor & add _serialize_data
* Add feetech sm8512bl
* Make feetech broadcast ping faster in protocol 1
* Cleanup
* Add support for feetech protocol 1 to _split_into_byte_chunks
* Fix unormalize
* Remove test_motors_bus fixtures
* Add more segmented tests (base motor bus & feetech), add feetech protocol 1 support
* Add more segmented tests (dynamixel)
* Refactor tests
* Add handshake, fix feetech _read_firmware_version
* Fix tests
* Motors config & disconnect fixes
* Add torque_disabled context
* Update branch & fix pre-commit errors
* Fix hand & glove readings
* Update feetech tables
* Move read/write_calibration implementations
* Add setup_motor
* Fix calibration msg display
* Fix setup_motor & add it to robots
* Fix _find_single_motor
* Remove deprecated configure_motor
* Remove deprecated dynamixel_calibration
* Remove names
* Remove deprecated import
* refactor/lekiwi robot (#863 )
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
* fix(teleoperators): use property is_connected (#1075 )
* Remove deprecated manipulator
* Update robot features & naming
* Update teleop features & naming
* Add make_teleoperator_from_config
* Rename find_port
* Fix config parsing
* Remove app script
* Add setup_motors
* Add teleoperate
* Add record
* Add replay
* Fix test_datasets
* Add mock robot & teleop
* Add new test_control_robot
* Add test_record_and_resume
* Remove deprecated scripts & tests
* Add calibrate
* Add docstrings
* Fix tests (no-extras install)
* Add SO101
* Remove pynput from optional deps
* Rename example 7
* Remove unecessary id
* Add MotorsBus docstrings
* Rename arm -> bus
* Remove Moss arm
* Fix setup_motors & calibrate configs
* Fix test_calibrate
* Add copyrights
* Update hand & arm
* Update homonculus hand & arm
* Fix dxl _find_single_motor
* Update glove
* Add setup_motors for lekiwi
* Fix glove calibration
* Complete docstring
* Add check for same min and max during calibration
* Move MockMotorsBus
* Add so100_follower tests
* (WIP) add calibration gui
* Fix test
* Add setup_motors
* Update calibration gui
* Remove old .cache folder
* Replace deprecated abc.abstractproperty
* Fix feetech protocol 1 configure
* Cleanup gui & add copyrights
* Anatomically precise joint names
* (WIP) Add glove to hand joints translation
* Move make_robot_config
* Add drive_mode & norm_mode in glove calibration
* Fix joints translation
* Fix normalization drive_mode
* nit
* Fix glove to hand conversion
* Adapt feetech calibration
* Remove pygame prompt
* Implement arm calibration (hacks)
* Better MotorsBus error messages
* Update feetech read_calibration
* Fix feetech test_is_calibrated
* Cleanup glove
* (WIP) Update arm
* Add changes from #1117
* refactor(cameras): cameras implementations + tests improvements (#1108 )
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Fix arm joints order
* Add timeout/event logic
* Fix arm & glove
* Fix predict_action from record
* fix(cameras): update docstring + handle sn when starts with 0 + update timeouts to more reasonable value (#1154 )
* fix(scripts): parser instead of draccus in record + add __get_path_fields__() to RecordConfig (#1155 )
* Left/Right sides + other fixes
* Arm fixes and add config
* More hacks
* Add control scripts
* Fix merge errors
* push changes to calibration, teleop and docs
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Move readme to docs
* update readme
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
* Add files via upload
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
* Update image sources
* Symlink doc
* Compress image
* Move image
* Update docs link
* fix docs
* simplify teleop scripts
* fix variable names
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Address code review
* add EMA to glove
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* integrate teleoperation for hand
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* update docs
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* import hopejr/homunculus in teleoperate
* update docs for teleoperate, record, replay, train and inference
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* chore(hopejr): address comments
* chore(hopejr): address coments 2
* chore(docs): update teleoperation instructions for the hand/glove
* fix(hopejr): calibration int + update docs
---------
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
Signed-off-by: Simon Alibert <75076266+aliberts@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: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: nepyope <nopyeps@gmail.com >
Co-authored-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
Co-authored-by: Steven Palma <steven.palma@huggingface.co >
2025-07-08 15:47:11 +02:00
d4ee470b00
Package folder structure ( #1417 )
...
* 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
fe88c5942c
There can be only one!! ( #1343 )
...
pkg-config appears twice in the package list.
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com >
2025-06-25 14:43:14 +02:00
d8079587a2
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 >
Co-authored-by: Yoel Chornton <yoel.chornton@gmail.com >
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co >
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co >
2025-06-13 13:15:47 +02:00
f5335fe696
Update tutorial link ( #1250 )
2025-06-10 11:05:08 +02:00
0e7caae714
Update SmolVLA README.md ( #1228 )
2025-06-08 23:15:26 +02:00
1786916a16
Update README.md ( #1163 )
2025-05-27 11:50:43 +02:00
0507ad4f68
Update README.md ( #1160 )
2025-05-27 11:45:07 +02:00
8cfab38824
Fix typos ( #1070 )
2025-05-05 10:35:32 +02:00
42bf1e8b9d
Update tutorial ( #1021 )
...
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-04-28 09:00:32 +02:00
b43ece8934
Add pythno3-dev in Dockerfile to build and modify Readme.md , python-dev to python3-dev ( #987 )
...
Co-authored-by: makolon <smakolon385@gmail.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-04-17 16:17:07 +02:00
790d6740ba
fix(installation): adding note on ffmpeg version during installation ( #976 )
...
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-04-14 15:36:31 +02:00
4041f57943
feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) ( #903 )
2025-04-09 17:33:01 +02:00
ae9c81ac39
fix(docs): correct spelling of 'ffmpeg' in installation instructions ( #914 )
2025-03-28 17:43:33 +01:00
78fd1a1e04
chore(docs): update docs ( #911 )
2025-03-27 09:55:06 +01:00
90533e6b9f
fix(docs): hot-fix updating installation instructions after #883 ( #907 )
2025-03-26 13:21:40 +01:00
12f52632ed
chore(docs): update instructions for change in device and use_amp ( #843 )
2025-03-10 21:03:33 +01:00
0b8205a8a0
chore(doc): add star history graph to the README.md ( #815 )
2025-03-06 09:44:21 +01:00
57ae509823
Revert "docs: update installation instructions to use uv instead of conda" ( #827 )
2025-03-06 09:43:27 +01:00
d694ea1d38
docs: update installation instructions to use uv instead of conda ( #731 )
...
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-03-05 10:07:35 +01:00
a4c1da25de
Add kiwi to readme ( #803 )
2025-03-04 18:43:27 +01:00
3354d919fc
LeRobotDataset v2.1 ( #711 )
...
Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: Remi Cadene <re.cadene@gmail.com >
2025-02-25 15:27:29 +01:00
3c0a209f9f
Simplify configs ( #550 )
...
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
4519016e67
Update README.md ( #612 )
2025-01-03 16:19:37 +01:00
Steven Palma