9287c36f37
- Added missing license in the new scripts
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- Added back legacy functions in conversion script of v2 to v21
- Updated README description for dataset_v3
2025-07-06 22:29:05 +02:00
30ffa259b7
Merge branch 'main' into user/michel-aractingi/2025_06_30_dataset_v3
2025-07-06 12:30:36 +02:00
bee74c3eab
Fix(tests) fix task index error in test_policies
2025-07-06 10:03:19 +02:00
83bf24cc9a
fix(tests) add features argument to load_nested_dataset
2025-07-05 10:16:29 +02:00
aec1b29d23
Fix indentation ( #1436 )
2025-07-04 14:56:12 +02:00
3dbc3e60fb
Added docstrings to aggregate, fix test_policies.py
2025-07-04 11:27:00 +02:00
830a3b9f27
Merge branch 'main' into user/michel-aractingi/2025_06_30_dataset_v3
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Signed-off-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-07-02 18:22:59 +02:00
69b1f7b118
nit precommit
2025-07-02 18:20:01 +02:00
66454a0fbf
Remove more references to lerobot.common
2025-07-02 18:18:19 +02:00
63ddfefa08
Remove references to lerobot.common ( #1432 )
2025-07-02 18:08:20 +02:00
012d428f7b
Reverted back missing files in src/lerobot/configs/
2025-07-02 17:33:51 +02:00
1c17419224
Reverted back files that were changed during the rebase
2025-07-02 17:26:34 +02:00
9dde8829e6
style nit
2025-07-02 17:10:56 +02:00
0f66bbe2f9
Migrate PR to new folder structure introduce on 1417
2025-07-02 17:10:26 +02:00
596e9050bd
Refactor kinematics and switch to using placo ( #1322 )
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Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com >
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Co-authored-by: leo-berte <leonardo.bertelli96@gmail.com >
2025-07-02 15:20:04 +02:00
6047bbee10
Update pyproject.toml to make package installable with pip ( #1430 )
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Signed-off-by: Gregor Lenz <gregor@paddington-robotics.com >
2025-07-02 12:40:35 +02:00
6de5670912
[pre-commit.ci] auto fixes from pre-commit.com hooks
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for more information, see https://pre-commit.ci
2025-07-02 11:52:34 +02:00
5e39b4ce94
fix(tests)
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- Updated `lerobot_dataset.py:add_frame` to take task as key in frame
- Updated `lerobot_dataset.py` to remove robot argument from `create` function of lerobotdataset and lerobotdatasetmetadata and directly take the features
- Update `test_datasets.py` to features from Mock robot
- Update all the usage of `add_frame` in the library
- Update `dataset_factories.py`; had issues with new argument order
- Raise ValueError when no task is provided (in `datasets/utils.py` validate func)
2025-07-02 11:51:56 +02:00
0a1da47527
fix(precommit) solve precommit issues
2025-07-02 11:51:06 +02:00
6b482a93d6
fix(rebase) deleting media related to tutorials
2025-07-02 11:47:09 +02:00
d9b9cc80da
fix(rebase) reverting files to main
2025-07-02 11:47:07 +02:00
c3e98db37d
add missing files for porting agibot
2025-07-02 11:46:45 +02:00
01d0b7b102
fix: modularize tests to improve readability
2025-07-02 11:45:29 +02:00
848a494ff6
add: tests for aggregation code
2025-07-02 11:45:29 +02:00
378c147be6
fix: debug aggregation code
2025-07-02 11:45:27 +02:00
d4fbf6ef39
add: support for videos generation in datasets
2025-07-02 11:45:11 +02:00
8c1503dafa
WIP after Francesco discussion
2025-07-02 11:45:11 +02:00
ba022dd091
Merge remote-tracking branch 'origin/user/rcadene/2025_04_11_dataset_v3' into user/rcadene/2025_04_11_dataset_v3
2025-07-02 11:44:49 +02:00
13a1f68b8e
WIP aggregate
2025-07-02 11:44:29 +02:00
58795d72c8
In tests: Add use_videos=False by default, Create mp4 file if True, then fix test_datasets and test_aggregate (all passing)
2025-07-02 11:44:21 +02:00
220997ff47
Fix visualize_dataset with rerun
2025-07-02 11:44:10 +02:00
ee2566456a
Uploaded droid 1.0.1
2025-07-02 11:44:08 +02:00
a231930044
Fix aggregate (num_frames, dataset_from_index, index)
2025-07-02 11:43:46 +02:00
6f0fc7f386
Aggregate: Add concatenation
2025-07-02 11:43:36 +02:00
fde67dbae7
Fix convert v30 with image datasets
2025-07-02 11:43:35 +02:00
ad1ad11eac
fix hf_dataset.set_transform(hf_transform_to_torch)
2025-07-02 11:43:33 +02:00
01bc89b6f4
Merge remote-tracking branch 'origin/user/rcadene/2025_04_11_dataset_v3' into user/rcadene/2025_04_11_dataset_v3
2025-07-02 11:43:24 +02:00
8c43b3d05e
Faster self.meta.episodes[...]
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switch back to set_transform instead of set_format
Add video_files_size_in_mb
pre-commit run --all-files
2025-07-02 11:43:22 +02:00
d4af22418b
Fix unit tests
2025-07-02 11:42:52 +02:00
eaec52a7b7
Merge remote-tracking branch 'origin/user/rcadene/2025_04_11_dataset_v3' into user/rcadene/2025_04_11_dataset_v3
2025-07-02 11:42:49 +02:00
0a390de361
Merge remote-tracking branch 'origin/main' into user/rcadene/2025_04_11_dataset_v3
2025-07-02 11:41:53 +02:00
1522e60f83
feat: Add fixes and refactor lekiwi example ( #1396 )
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* feat: Add fixes and refactor lekiwi example
* fix: replace repo_id with placeholders
* feat: use record_loop for lekiwi, use same control strucutre as record.py
* feat: make rerun log more general for lekiwi
* fix: add comments record_loop and fix params evaluate.py
* fix: add events in evaluate.py
* fix: add events 2
* change record to display data
* Integrate feedback steven
* Add docs merging
* fix: add lekiwi name check
* fix: integrate feedback steven
* fix: list for type
* fix: check type list
* remove second robot connect
* fix: added file when merging
* fix(record): account for edge cases when teleop is a list
---------
Co-authored-by: Steven Palma <steven.palma@huggingface.co >
2025-07-02 11:41:20 +02:00
d4ee470b00
Package folder structure ( #1417 )
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* 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
483be9aac2
Add smolvla extra nightly ( #1408 )
2025-06-30 12:52:48 +02:00
69901b9b6a
fix(recording): re-recording episode doesn't increase count of recording episodes ( #1395 )
2025-06-27 16:02:51 +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
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (#1030 )
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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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* Fix: emptying action queue between resets (#1117 )
* fix: typos and grammar (#1148 )
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* Add SmolVLA (#1175 )
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* Fix SmolVLA loss not sent to wandb (#1198 )
* Hardware API redesign (#777 )
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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 )
* update KochFollower.get_observation() so it returns same observation structure as SO101 (#1248 )
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* [pre-commit.ci] pre-commit autoupdate (#1185 )
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* Proposal for fix for enter_pressed on Windows (#1230 )
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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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 )
* fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (#1256 )
Co-authored-by: danaaubakirova <d.aubakirova@alumni.edu.kz >
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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 )
* Port HIL SERL (#644 )
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* fix(docs): SmolVLA fine-tuning getting started (#1201 )
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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 )
* fix(docs): update send_feedback docstrings
* Add sim tutorial, fix lekiwi motor config, add notebook links (#1275 )
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* Fixes on robot integration tutorial (#1290 )
* Add keyboard teleop device to control the end effector robot (#1289 )
* Improve type hints (#1293 )
* fix(record): no teleop arg in reset environment (#1294 )
* `learner.py` import so101_leader instead of so100 (#1295 )
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
* Fixing `PI0` Policy (#1297 )
* `gym_manipulator.py` Remove None value action_intervention of BaseLeaderTeleoperator (#1299 )
* (chore): incorrect resume parameter in recording documentation (#1301 )
* Update lekiwi.mdx (#1229 )
* bump `pi0` and `hil` transformers version (#1298 )
* docs: fix imitation learning robots docs command (#1308 )
* fix(benchmarks): remove .numpy() from frame in benchmark script (#1354 )
* add smolvla to the supported policies to run tests (:
* add: chunk-level access for the policy
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* 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
* fix minor naming
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
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* 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?
---------
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com >
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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
* Do push to hub cleaner
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---------
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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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
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
Michel Aractingi