2de042690e
fix: pre-commit auto-fix (prettier markdown table formatting)
2026-07-27 09:40:20 +00:00
124d03608c
feat(rollout): add smooth_handover flag to DAgger strategy config
...
The DAgger phase transitions run blocking smooth handovers: on pause the
leader is driven to the follower (~2 s), and on correction start the
follower is slid to the teleop pose (~1 s), both inside the record loop.
For clutch-style teleoperators (e.g. VR controllers) that re-reference
their command frame at the current robot pose on engage, the handover is
already continuous — the interpolation only delays the start of the
correction and eats its first frames.
Add --strategy.smooth_handover (default true, existing behavior
unchanged) to let such setups skip it, mirroring the episodic strategy's
smooth_leader_to_follower_handover flag.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com >
2026-07-27 09:38:22 +00:00
d576c59afb
refactor(robots): homogenize bi-manual setups implementations ( #3772 )
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* chore(robots): homogenize bi setups
* feat(robots): split openarm mini into single and bi
* refactor(robots): mixin for bi classes
* docs: update docs
2026-06-15 16:28:54 +02:00
09808183ca
feat(rollout): adding episodic strategy ( #3717 )
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* feat(rollout): adding legacy strategy
* adding legacy to existing tests
* updating docs and docstring
* changing misleading docstring
Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net >
* adding extra guard like dagged with try except finally
* Potential fix for pull request finding
Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net >
* adding reset to initial position
* moving smooth teleop handover to control_utils and adding this behavior to legacy strategy
* reducing duration of the handover
* * renaming to episodic
* changing semantics of the docstring
* fixing leader - follower handover disable torque
* adding optionnal config to disable handover
* wiring the smooth_leader_follower_handover config
* renaming config smooth_leader_to_follower_handover
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Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net >
2026-06-06 00:32:38 +02:00
ca87ccd941
feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI ( #3413 )
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* feat(scripts): lerobot-rollout
* fix(rollout) require dataset in dagger + use duration too
* fix(docs): dagger num_episodes
* test(rollout): fix expectations
* fix(rollout): features check
* fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config
* docs(rollout): edit rename_map instructions
* chore(rollout): multiple minor improvements
* chore(rollout): address coments + minor improvements
* fix(rollout): enable default
* fix(tests): default value RTCConfig
* fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
* fix(rollout): prevent relativeactions with sync inference engine
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
* fix(rollout): rtc reanchor to non normalized state
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
* fix(rollout): fixing the episode length to use hwc (#3469 )
also reducing default length to 5 minutes
* feat(rollout): go back to initial position is now a config
* fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470 )
* chore(rollout): note about dagger correction stage
* chore(docs): update comments and docstring
* fix(test): move rtc relative out of rollout module
* fix(rollout): address the review comments
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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co >
2026-04-28 00:57:35 +02:00
Maxime Ellerbach