534e143b0c
add conditional transformers import to match all other policies that use transformers lib
2025-12-15 10:08:47 -08:00
23382c0ac5
add multitask dit to toc for docs
2025-12-15 10:02:00 -08:00
4eda54c7fe
Merge branch 'main' into feature/add-multitask-dit
2025-12-15 09:57:27 -08:00
4e6048a221
finalize the dataset after recording ( #2496 )
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-15 17:57:04 +01:00
81ebcac8d7
docs: update IL robots API example and add OpenCV workaround ( #2648 )
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* docs: update IL robots API example and add OpenCV workaround
- Fix import path from lerobot.record to lerobot.scripts.lerobot_record
- Add required processor parameters to record_loop calls
- Document fourcc="MJPG" workaround for OpenCV async errors
- Improve code formatting in robot configuration examples
Fixes compatibility issues for users following the tutorial on embedded systems
and ensures API examples match current codebase requirements.
* Update il_robots.mdx
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: ./c² <cagataycali@icloud.com >
---------
Signed-off-by: ./c² <cagataycali@icloud.com >
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-15 17:56:33 +01:00
a632dd3af4
Merge branch 'main' into feature/add-multitask-dit
2025-12-15 08:22:05 -08:00
a6c3a0fa09
Feat/add mj env ( #2613 )
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* add sim support
* close fix threading issues
2025-12-15 16:22:27 +01:00
c2fb644613
feat(robot): Add support for OMX robot ( #2614 )
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* 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 >
2025-12-15 15:50:29 +01:00
e4a1b27fd3
Merge branch 'main' into feature/add-multitask-dit
2025-12-14 09:10:48 -08:00
1d07a4aefd
add auto in docs ( #2645 )
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Signed-off-by: Jade Choghari <chogharijade@gmail.com >
2025-12-13 17:11:19 +01:00
71f359ca6e
refactor code to perform task tokenization in the processor instead of in the modeling code for multitask dit
2025-12-11 12:09:54 -08:00
51dfee43f4
rename config param for multiple vision encoders
2025-12-11 09:58:57 -08:00
1f74982469
note origins of each training objective
2025-12-11 09:55:41 -08:00
8e3a1e8945
add more descriptions and depth to multitask dit tutorial
2025-12-11 09:45:53 -08:00
43c335d0d7
reformat and clean up tutorial for multitask dit policy
2025-12-11 09:33:30 -08:00
dd4ef1383f
fix nit formatting in generate actions fcn
2025-12-11 09:21:26 -08:00
f3823e8bcd
remove the base classes since we don't need to be able to extend
2025-12-11 09:20:25 -08:00
c398a146b3
use constants for indexing into batches and remove env state references
2025-12-11 09:13:38 -08:00
9b47c5fac9
move policy to top of file
2025-12-11 09:04:38 -08:00
56dbeed89f
add processor tests to multitask dit tests
2025-12-11 09:04:23 -08:00
67b1a9eeb1
update typo in test instruction comment
2025-12-11 08:28:35 -08:00
86e0ee787d
remove environment state conditioning
2025-12-11 08:26:21 -08:00
ba968e84f1
fix bugs when testing on hardware
2025-12-10 16:26:57 -08:00
d49d3390f6
Merge branch 'main' into feature/add-multitask-dit
2025-12-10 14:44:04 -08:00
f1ac454800
add tutorial to training with multi_task_dit
2025-12-10 14:43:27 -08:00
10cfc17705
remove redundant asserts
2025-12-10 14:43:27 -08:00
5524a0d7a7
split up select action return statement
2025-12-10 14:43:27 -08:00
3a16a002f8
add torch.no_grad decorators
2025-12-10 14:43:27 -08:00
3b2a4f548c
merge all modules files into the main modeling file
2025-12-10 14:43:27 -08:00
b92dc82ddd
add references to the modeling file comments
2025-12-10 14:43:27 -08:00
103230c64c
simplify config for multitask dit by merging and flattening everything, then adding comments to denote where some parameters are only used for specific objectives
2025-12-10 14:43:27 -08:00
cdacc090cd
update docstring for multitask dit policy processor file
2025-12-10 14:43:27 -08:00
6f856016c5
adjust factory comment
2025-12-10 14:43:27 -08:00
adabb37af6
remove dino vision encoder and simplify text and vision encoders by removing inheritance structure
2025-12-10 14:43:27 -08:00
55e19ff9a7
update readme and citations for multitask dit policy
2025-12-10 14:43:27 -08:00
ce348a3460
enable variable image sizes to pi0/pi0.5 ( #2609 )
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* enable variable image sizes to pi0/pi0.5
* add square image assertion
2025-12-10 19:41:11 +01:00
22714af08d
Merge branch 'main' into feature/add-multitask-dit
2025-12-09 20:45:59 -08:00
cb920235c4
docs: update X-VLA training strategies/commands ( #2611 )
2025-12-09 19:08:09 +01:00
46ebcc2f7d
add RoPE attention module as this is shown to help training dynamics and generation quality for DiTs
2025-12-09 08:42:56 -08:00
a0d5a088e3
Merge branch 'main' into feature/add-multitask-dit
2025-12-09 07:44:05 -08:00
7f40b3bf82
feat(dataset): add tool to convert images to video datasets ( #2560 )
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* add video encoding tool
* style
* make it work
* more fixes
2025-12-08 18:50:21 +01:00
2e9c9fd832
Replay while loop in sample actions with for loops ( #2600 )
2025-12-08 14:47:54 +01:00
f9cb5e659c
chore(ci): skip workflows if not lerobot repository ( #2601 )
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Co-authored-by: Alex Tyshka <atyshka15@gmail.com >
2025-12-08 12:44:36 +01:00
0217e1e3ad
Fix dataset aggreagation for multi video datasets' ( #2550 )
2025-12-05 16:09:25 +01:00
d79dd6d31f
Add a documentation page with a brief intro to hw backends ( #2385 )
2025-12-05 13:32:58 +01:00
56b43cc888
fix(scripts): missing so101 import ( #2577 )
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* fix(scripts): missing so101 import
Co-authored-by: Skyler <skylerwiernik@gmail.com >
* fix(scripts): move urdf to cli args
* refactor(scripts): improve find_joints_limits
---------
Co-authored-by: Skyler <skylerwiernik@gmail.com >
2025-12-03 18:20:26 +01:00
77fe5a09ed
fix(docs): argument typo ( #2361 )
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-03 17:57:18 +01:00
89ae7813a7
Reorganize assembly instructions setup before assembly ( #2333 )
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Motors should be set up before the arm is assembled.
Moving the entire motor setup section before the part cleaning and assembly section.
Signed-off-by: Austin King <shout@ozten.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-03 17:56:58 +01:00
e003108cf8
Fix link to lerobot-train script in documentation ( #2466 )
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* Fix link to lerobot-train script in documentation
Signed-off-by: ./c² <cagataycali@icloud.com >
* Update link to lerobot record script
Signed-off-by: ./c² <cagataycali@icloud.com >
---------
Signed-off-by: ./c² <cagataycali@icloud.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-03 15:46:26 +01:00
5766eea377
fix(docs): remove duplicated package in install instructions ( #2573 )
2025-12-03 15:45:56 +01:00
Bryson Jones