44245e714e
Merge branch 'main' of github.com:huggingface/lerobot into feature/basic-peft-support
2025-06-27 13:55:07 +02:00
2f9ba4e2cc
Add api examples IL docs ( #1391 )
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* feat: add api examples for record, replay, eval for il
* fix: Add typings utils.py
* fix: Add inference to text eval
* fix: Add placeholders dataset and policy repo_ids
* fix: Improve text
* fix: Add type to 3rd ;)
* chore(docs): update API examples for replay, eval and record
---------
Co-authored-by: Steven Palma <steven.palma@huggingface.co >
2025-06-27 11:57:24 +02:00
f3d931e1b2
Add direct access to action chunks ( #1020 )
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* fix: sharing predicted chunk with user
* [pre-commit.ci] pre-commit autoupdate (#1011 )
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* Revert "[pre-commit.ci] pre-commit autoupdate" (#1025 )
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* fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (#1030 )
* Update tutorial (#1021 )
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* Add description motor order SO-101 leader (#1051 )
* feat(encoding): switching to PyAV for ffmpeg related tasks (#983 )
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* Docs: adapt text + fix video code (#1064 )
* Fix typos (#1070 )
* docs: minor corrections and clean-up (#1089 )
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* Update 12_use_so101.md (#1081 )
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* 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 )
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* Add SmolVLA (#1175 )
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* Fix SmolVLA loss not sent to wandb (#1198 )
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* 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 )
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* Proposal for fix for enter_pressed on Windows (#1230 )
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* 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 )
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* 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 )
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* chore(teleop): print calibration path saved (#1286 )
* chore(dependencies): add gamepad support with pygame and hidapi (#1287 )
* Robot integration tutorial (#1285 )
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* Fixes on robot integration tutorial (#1290 )
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* `learner.py` import so101_leader instead of so100 (#1295 )
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* Fixing `PI0` Policy (#1297 )
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* (chore): incorrect resume parameter in recording documentation (#1301 )
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* docs: fix imitation learning robots docs command (#1308 )
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* [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
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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?
---------
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2025-06-27 10:19:19 +02:00
0b2285d1ec
Feat: Improve hub integration ( #1382 )
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* feat(policies): Initial setup to push policies to hub with tags and model card
* feat: add dataset that is used to train
* Add model template summary
* fix: Update link model_card template
* fix: remove print
* fix: change import name
* fix: add model summary in template
* fix: minor text
* fix: comments Lucain
* fix: feedback steven
* fix: restructure push to hub
* fix: remove unneeded changes
* fix: import
* fix: import 2
* Add MANIFEST.in
* fix: feedback pr
* Fix tests
* tests: Add smolvla end-to-end test
* Fix: smolvla test
* fix test name
* fix policy tests
* Add push to hub false policy tests
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* fix(ci): add push_to_hub false in tests
---------
Co-authored-by: Steven Palma <steven.palma@huggingface.co >
2025-06-26 14:36:16 +02:00
a989c79558
docs: Fix the SO-100 documentation, the motors configuration step should be before the assembly instructions ( #1315 )
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2025-06-26 13:31:32 +02:00
06450c6777
update assembly instructions to match outputs from setup motors 'python -m lerobot.setup_motors' script ( #1384 )
2025-06-26 12:15:35 +02:00
dc67b2ff3f
Store policy config alongside PEFT checkpoint
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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.
2025-06-22 19:54:10 +02:00
b8637c09ec
Update lekiwi.mdx ( #1229 )
2025-06-14 23:41:45 +02:00
ce6a26deeb
Fixing PI0 Policy ( #1297 )
2025-06-14 19:25:50 +02:00
dcc0c234dd
Improve type hints ( #1293 )
2025-06-14 14:06:22 +02:00
6007a221f0
Add keyboard teleop device to control the end effector robot ( #1289 )
2025-06-14 09:10:09 +02:00
438334d58e
Add sim tutorial, fix lekiwi motor config, add notebook links ( #1275 )
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2025-06-13 18:48:39 +02:00
69e8946480
fix(docs): update send_feedback docstrings
2025-06-13 18:29:19 +02:00
96fa48b5ec
Robot integration tutorial ( #1285 )
2025-06-13 18:23:07 +02:00
5350a02dc1
chore(teleop): print calibration path saved ( #1286 )
2025-06-13 15:29:10 +02:00
d8079587a2
Port HIL SERL ( #644 )
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2025-06-13 13:15:47 +02:00
5c87365cc1
Skip normalization parameters in load_smolvla ( #1274 )
2025-06-13 11:06:45 +02:00
edfebd522c
Use HF Papers ( #1120 )
2025-06-12 09:58:59 +02:00
d0521189b1
fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla ( #1256 )
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2025-06-11 16:56:55 +02:00
10b7b35325
Match motor names with ids lekiwi ( #1261 )
2025-06-11 14:21:30 +02:00
459c95197b
fix: update pi0 dependency version constraint ( #1247 )
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2025-06-10 18:46:41 +02:00
37748c83ca
Proposal for fix for enter_pressed on Windows ( #1230 )
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2025-06-10 18:36:02 +02:00
2889f3a06a
update KochFollower.get_observation() so it returns same observation structure as SO101 ( #1248 )
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2025-06-10 12:42:54 +02:00
f0a903c98f
Fix unable to set camera width/height to non-default ( #1225 )
2025-06-10 10:23:33 +02:00
a28f02ecb3
replaced OBS_ROBOT with OBS_STATE constant ( #1211 )
2025-06-06 09:25:51 +02:00
09343acce7
fix(smolvla): update record.py, fix populate_queues and remove unused dependencies ( #1208 )
2025-06-06 09:17:02 +02:00
e23b41e79a
Hardware API redesign ( #777 )
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2025-06-05 17:48:43 +02:00
b536f47e3f
Fix SmolVLA loss not sent to wandb ( #1198 )
2025-06-05 11:13:03 +02:00
bfd26eef5a
Add SmolVLA ( #1175 )
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2025-06-03 17:11:50 +02:00
bed90e3a41
fix: typos and grammar ( #1148 )
2025-05-25 17:20:45 +02:00
6163daaaa4
Fix: emptying action queue between resets ( #1117 )
2025-05-22 21:37:21 +02:00
a445d9c9da
bug fix for #1071 When --display_data=true, Failed running control_robot. ( #1073 )
2025-05-09 16:53:40 +02:00
8cfab38824
Fix typos ( #1070 )
2025-05-05 10:35:32 +02:00
6d723c45a9
feat(encoding): switching to PyAV for ffmpeg related tasks ( #983 )
2025-04-29 17:39:35 +02:00
42bf1e8b9d
Update tutorial ( #1021 )
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2025-04-28 09:00:32 +02:00
c10c5a0e64
Fix --width --height type parsing on opencv and intelrealsense scripts ( #556 )
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2025-04-17 15:19:23 +02:00
4041f57943
feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) ( #903 )
2025-04-09 17:33:01 +02:00
437fc29e12
[pre-commit.ci] pre-commit autoupdate ( #871 )
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2025-04-08 06:58:46 +02:00
1c873df5c0
Support for PI0+FAST ( #921 )
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2025-04-04 11:51:11 +02:00
b568de35ad
fix(datasets): cast imgs_dir as Path ( #915 )
2025-03-28 18:08:12 +01:00
78fd1a1e04
chore(docs): update docs ( #911 )
2025-03-27 09:55:06 +01:00
2c22f7d76d
Add offline mode in the configuration for wandb logging ( #897 )
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2025-03-25 13:44:49 +01:00
a774af2eab
fix pi0 action padding name ( #893 )
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2025-03-25 11:24:46 +01:00
a6015a55f9
chore(scripts): remove deprecated script ( #887 )
2025-03-23 01:16:50 +01:00
952e892fe5
Use float32 instead of int ( #877 )
2025-03-18 16:36:37 +01:00
e8159997c7
User/pepijn/2025 03 17 act different image shapes ( #870 )
2025-03-18 11:09:05 +01:00
1c15bab70f
fix(codec): hot-fix for default codec in linux arm platforms ( #868 )
2025-03-17 13:23:11 +01:00
a3cd18eda9
added wandb.run_id to allow resuming without wandb log; updated log m… ( #841 )
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2025-03-15 09:40:39 +01:00
0e98c6ee96
Add torchcodec cpu ( #798 )
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2025-03-14 16:53:42 +01:00
974028bd28
Organize test folders ( #856 )
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-03-13 14:05:55 +01:00
nemo