c32b9182d9
[skip ci] feat(torchcodec): adding support for torchcodec audio decoding
2026-01-20 12:12:58 +01:00
a4d4ef0e7f
fix: fixing typos
2026-01-20 12:12:58 +01:00
9a5c96b2b1
fix: fixing issue with microphone channels numbering and status recovery on stop_recording
2026-01-20 12:12:58 +01:00
0a6ca58299
fix: adding proper definition for "total_audio" in LeRobotDataset
2026-01-20 12:12:58 +01:00
688195fc46
docs: add methods descriptions and comments on tricky parts
2026-01-20 12:12:58 +01:00
99eb0bbafc
Adding last missing audio features in LeRobotDataset
2026-01-20 12:12:58 +01:00
16de8b3f19
Adding support for audio data recording and broadcasting for LeKiwi
2026-01-20 12:12:55 +01:00
580008663b
Adding flag for file writting recording case
2026-01-20 12:12:07 +01:00
52c424c5eb
Adding multiprocessing support for audio recording
2026-01-20 12:12:07 +01:00
836195e59c
Renamming sampling rate to sample rate for consistency
2026-01-20 12:12:07 +01:00
be09a59e05
Adding audio tests
2026-01-20 12:12:03 +01:00
373a169bd2
Fixing sounddevice stream active state recovery and adding corresponding exceptions
2026-01-20 12:10:45 +01:00
00536c6c5b
Adding missing features for audio frames verification and stats
2026-01-20 12:10:45 +01:00
cdd3a859ef
Adding pytorch compatible conversion for audio
2026-01-20 12:10:45 +01:00
5276fc0d6f
Remove variable audio recordings data types (will be converted to float32 anyway)
2026-01-20 12:10:45 +01:00
6a2882f978
Adding audio frames reading capability
2026-01-20 12:10:37 +01:00
8874547353
Adding microphone recording in control loop
2026-01-20 12:10:12 +01:00
2864caad80
Adding audio modality in LeRobotDatasets
2026-01-20 12:10:12 +01:00
d998660aa1
Integrate microphones in Robot class
2026-01-20 12:10:09 +01:00
7e5f3b35e9
Implementing basic integration of microphones using soundfile and sounddevice
2026-01-20 12:08:27 +01:00
01fea7c407
Adding audio dependencies
2026-01-20 12:08:27 +01:00
13bfee1aa4
Set 10 direction bit for Current Load attribute ( #1014 )
2026-01-20 11:20:30 +01:00
79688a09f2
improve(dataset-tools): image2video editing tools : Multiple episodes per video file ( #2811 )
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* improve image2video
* add episodes video encoding
* fix mypy failing
* iterate on review
* nit
* remove max, and let it be optional
* iterate more
* update docs
* fix test
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2026-01-20 11:04:22 +01:00
b2ff219624
Fixes aggregation of image datasets ( #2717 )
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* fix: use features when aggregating image based datasets
* add: test asserting for data type
* add: features param to writing dataset
---------
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2026-01-19 23:36:41 +01:00
66929c5935
feat: add async server-client streaming support for Groot policy ( #2812 )
2026-01-19 22:13:48 +01:00
5286ef8439
feat(utils): extend import check util ( #2820 )
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* refactor(utils): is_package_available now differentiate between pkg name and module name
* refactor(tests): update require_package decorator
2026-01-19 16:43:11 +01:00
fe068df711
fix(train): eval env initialization on train script ( #2818 )
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* fix: eval env initialization on train script
Signed-off-by: bigmbigk <bigmbigk@gmail.com >
* fix: eval env creation condition
---------
Signed-off-by: bigmbigk <bigmbigk@gmail.com >
2026-01-19 14:14:10 +01:00
da41646073
fix libero reset logic for correct resetting ( #2817 )
2026-01-19 13:18:52 +01:00
46e19ae579
feat: is connect checks decorators ( #2813 )
2026-01-16 18:52:06 +01:00
77dc49b3a3
Fix delta timestamps with episodes filter and add tests ( #2612 )
2026-01-16 18:14:54 +01:00
33910673ec
Bugfix: Add tests for image deletion and fix mixed image-video deletion ( #2592 )
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* Add tests for image deletion and fix mixed-image-video deletion
* Fix docstring whitespace
* Remove debug print
Signed-off-by: Alex Tyshka <atyshka15@gmail.com >
* Remove inaccurate comment
* Remove batched video test
---------
Signed-off-by: Alex Tyshka <atyshka15@gmail.com >
2026-01-16 18:14:15 +01:00
19dce78457
Refactor: Move PEFT config from training script to policy level ( #2806 )
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* move peft config from `lerobot_train` to policy level
* Update src/lerobot/scripts/lerobot_train.py
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: Michel Aractingi <michel.aractingi@huggingface.co >
* copilot response
* Change the polciy function to return targets rather than peft config.`_get_default_peft_targets()` override in PI0, PI0.5, SmolVLA
* remove none check when building config dict
---------
Signed-off-by: Michel Aractingi <michel.aractingi@huggingface.co >
2026-01-16 17:14:28 +01:00
112b2d173a
chore(ci): deactivates cron job on unbound dep tests ( #2810 )
2026-01-16 14:39:00 +01:00
b825880c40
chore: add security policy ( #2809 )
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* chore: add security policy
* pre-commit style
2026-01-16 14:38:42 +01:00
76d6b71b0a
Correct Frodobots Earth Rover SDK link and add setup instructions ( #2671 )
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* Fix SDK link and enhance setup instructions
Updated the Frodobots SDK link and added credential setup instructions.
Signed-off-by: ./c² <cagataycali@icloud.com >
* Update docs/source/earthrover_mini_plus.mdx
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: ./c² <cagataycali@icloud.com >
* Update docs/source/earthrover_mini_plus.mdx
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
---------
Signed-off-by: ./c² <cagataycali@icloud.com >
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2026-01-16 02:39:58 +01:00
5de38813d9
Add small context to the envHub doc page ( #2807 )
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* Add small context to the envHub doc page
* Add the cfg: EnvConfig on the main function explaination.
2026-01-15 18:31:17 +01:00
6797ce615e
chore(deps): bump wandb & protobuf ( #2800 )
2026-01-15 10:51:42 +01:00
a17df523e0
chore(ci): merge annoying section in PR template ( #2802 )
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* chore(ci): merge annoying section in PR template
* pre-commit
2026-01-14 17:17:56 +01:00
1c61b43b15
fix(teleop): add is_connected check to get_action ( #2801 )
2026-01-14 17:14:12 +01:00
15724826dd
chore: use alias & constants ( #2785 )
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* chore: use alias and constants
* fix(rl): solve circular dependecy
* chore: nit right constant
* chore: pre-commit
* chore(script): conflict tokenizer train
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
2026-01-13 09:49:46 +01:00
2cdd9f43f7
fix: train tokenizer CLI entry point ( #2784 )
2026-01-13 01:42:53 +01:00
d0f57f58d1
Move cfg.validate() earlier to fix NoneType error with --policy.path ( #2782 )
2026-01-12 19:24:19 +01:00
b8ec1152d4
fix(robots): add reachy2 fixes ( #2783 )
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* fix(robots): add reachy2 fixes
* tests(robots): remove reachy sdk stub
2026-01-12 18:05:16 +01:00
6b8d4c75a6
Feat/g1 improvements record sim ( #2765 )
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This PR extends the integration of Unitree g1 with the LeRobot codebase. By converting robot state to a flat dict we can now record and replay episodes (example groot/holosoma scripts need to be adjusted as well). We also improve the simulation integration by calling .step @ _subscribe_motor_state instead of it running in a separate thread. We also add ZMQ camera to lerobot, streaming base64 images over json
2026-01-12 17:31:39 +01:00
d791a431fe
feat(robots): consolidates bi SO setups ( #2780 )
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* feat(robots): consolidates bi SO setups
* fix(robots): solve circular dependecy
* fix(robots): teleop & record working
* feat(robots): only one SO
* fix(utils): rename bi so
* fix(scripts): bi so import
* fix(rl): remove imports
2026-01-12 16:01:22 +01:00
473f1bd0e0
docs: improve assets ( #2777 )
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* add assets
* add libero results pifast:
* update
* update
* update size
* update naems:
:
* update training tokenizer
2026-01-12 13:33:28 +01:00
91ff9c4975
Fix: Respect policy.device=cpu config in training ( #2778 )
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* fix cpu training in lerobot_train
* Update src/lerobot/scripts/lerobot_train.py
Signed-off-by: Michel Aractingi <michel.aractingi@huggingface.co >
2026-01-12 12:19:02 +01:00
1d86c9b7f2
feat(policies): add autoregressive VLAs with tokenization PiFast ( #2734 )
2026-01-09 23:08:37 +01:00
ba3d2148a3
skip peft cmd test in cli ( #2776 )
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* skip peft cmd test in cli
* pre commit
* update desc
2026-01-09 19:10:02 +01:00
8b6fc0ae05
feat(datasets): expose video codec option for dataset recording ( #2771 )
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* expose codec options + add tests
* pre-commit run -a
2026-01-08 18:06:39 +01:00
CarolinePascal