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57014e5bb17a4250a0c834e6027ca677096a2a1a
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195 Commits

Author SHA1 Message Date
nemo 57014e5bb1 Merge branch 'main' of github.com:huggingface/lerobot into feature/basic-peft-support 2025-07-08 11:23:40 +02:00
Simon Alibert 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
nemo 44245e714e Merge branch 'main' of github.com:huggingface/lerobot into feature/basic-peft-support 2025-06-27 13:55:07 +02:00
Pepijn 0b2285d1ec Feat: Improve hub integration (#1382) 
* 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

* Do push to hub cleaner

* 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
nemo dc67b2ff3f 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.
 2025-06-22 19:54:10 +02:00
Adil Zouitine 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
Simon Alibert 9e6f49f507 Fix test_teleoperate (#1216) 2025-06-06 09:38:37 +02:00
Simon Alibert e23b41e79a Hardware API redesign (#777) 
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: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
 2025-06-05 17:48:43 +02:00
mshukor bfd26eef5a Add SmolVLA (#1175) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: fracapuano <francesco.capuano@huggingface.co>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-06-03 17:11:50 +02:00
Adil Zouitine 0cf864870c [Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 (#1127) 2025-05-28 16:54:20 +02:00
Steven Palma 4041f57943 feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (#903) 2025-04-09 17:33:01 +02:00
Simon Alibert 974028bd28 Organize test folders (#856) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-13 14:05:55 +01:00
Pepijn 84565c7c2e Fix camera rotation error (#839) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-03-10 17:02:19 +01:00
Ben Sprenger 05b54733da feat: add support for external plugin config dataclasses (#807) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-10 13:25:47 +01:00
Simon Alibert 513b008bcc fix: deactivate tdmpc backward compatibility test with use_mpc=True (#838) 2025-03-10 10:19:54 +01:00
Joe Clinton 32fffd4bbb Fix delay in teleoperation start time (#676) 
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>
 2025-03-08 11:40:07 +01:00
Simon Alibert 074f0ac8fe Fix gpu nightly (#829) 2025-03-07 13:21:58 +01:00
Steven Palma 5e9473806c refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Steven Palma 5d24ce3160 chore(doc): add license header to all files (#818) 2025-03-05 17:56:51 +01:00
Steven Palma 3827974b58 refactor(test): remove duplicated code in conftest.py (#804) 2025-03-04 10:49:44 +01:00
Simon Alibert 659ec4434d Fix nightly (#775) 2025-02-26 16:36:03 +01:00
Simon Alibert a1809ad3de Add typos checks (#770) 2025-02-25 23:51:15 +01:00
Simon Alibert 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
Simon Alibert c4c2ce04e7 Update pre-commits (#733) 2025-02-15 15:51:17 +01:00
Simon Alibert 90e099b39f Remove offline training, refactor train.py and logging/checkpointing (#670) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-02-11 10:36:06 +01:00
Simon Alibert 8548a87bd4 Remove dataset tests artifacts (#701) 2025-02-09 14:24:01 +01:00
Remi 638d411cd3 Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
Pepijn dd974529cf User/pepijn/2025 01 31 improved tutorial so100 (#666) 2025-02-03 18:27:55 +01:00
Simon Alibert 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
Thomas Lips c4d912a241 Check for "/" in feature names (#660) 2025-01-29 21:54:49 +01:00
Eugene Mironov 59e2757434 Fix broken create_lerobot_dataset_card (#590) 2024-12-23 15:05:59 +01:00
Mishig 73b64c3089 [vizualizer] for LeRobodDataset V2 (#576) 2024-12-20 16:26:23 +01:00
Remi 286bca37cc Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-12-03 10:53:21 +01:00
Simon Alibert 32eb0cec8f Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00
Remi 07e8716315 Add FeetechMotorsBus, SO-100, Moss-v1 (#419) 
Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-25 11:23:55 +02:00
Remi 77478d50e5 Refactor record with add_frame (#468) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-16 20:51:35 +02:00
Remi 97b1feb0b3 Add policy/act_aloha_real.yaml + env/act_real.yaml (#429) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-10 17:12:45 +02:00
Simon Alibert 1a343c3591 Add support for Stretch (hello-robot) (#409) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2024-10-04 18:56:42 +02:00
Remi 26f97cfd17 Enable CI for robot devices with mocked versions (#398) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-03 17:05:23 +02:00
Simon Alibert 9d0c6fe419 Fix nightlies & untrack json files from git lfs (#414) 2024-09-05 15:07:43 +02:00
Remi 429a463aff Control aloha robot natively (#316) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-04 19:28:05 +02:00
Michel Aractingi eb4c505cff Support for converting OpenX datasets from RLDS format to LeRobotDataset (#354) 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-08-27 09:07:00 +02:00
Alexander Soare 9c7649f140 Make sure init_hydra_config does not require any keys (#376) 2024-08-23 12:27:08 +01:00
Remi bbe9057225 Improve control robot ; Add process to configure motor indices (#326) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-08-15 18:11:33 +02:00
Remi 2252b42337 Add visualize_dataset_html with http.server (#188) 2024-08-08 20:19:06 +03:00
Alexander Soare f8a6574698 Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Alexander Soare abbb1d2367 Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +01:00
Simon Alibert 0b21210d72 Convert datasets to av1 encoding (#302) 2024-07-22 20:08:59 +02:00
Alexander Soare c0101f0948 Fix ACT temporal ensembling (#319) 2024-07-16 10:27:21 +01:00
Remi 5e54e39795 Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00