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---------
Signed-off-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Jade Choghari (jchoghar) <chogharijade@gmai.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
* [Port codebase pipeline] General fixes for RL and scripts (#1748)
* Refactor dataset configuration in documentation and codebase
- Updated dataset configuration keys from `dataset_root` to `root` and `num_episodes` to `num_episodes_to_record` for consistency.
- Adjusted replay episode handling by renaming `episode` to `replay_episode`.
- Enhanced documentation
- added specific processor to transform from policy actions to delta actions
* Added Robot action to tensor processor
Added new processor script for dealing with gym specific action processing
* removed RobotAction2Tensor processor; imrpoved choosing observations in actor
* nit in delta action
* added missing reset functions to kinematics
* Adapt teleoperate and replay to pipeline similar to record
* refactor(processors): move to inheritance (#1750)
* fix(teleoperator): improvements phone implementation (#1752)
* fix(teleoperator): protect shared state in phone implementation
* refactor(teleop): separate classes in phone
* fix: solve breaking changes (#1753)
* refactor(policies): multiple improvements (#1754)
* refactor(processor): simpler logic in device processor (#1755)
* refactor(processor): euclidean distance in delta action processor (#1757)
* refactor(processor): improvements to joint observations processor migration (#1758)
* refactor(processor): improvements to tokenizer migration (#1759)
* refactor(processor): improvements to tokenizer migration
* fix(tests): tokenizer tests regression from #1750
* fix(processors): fix float comparison and config in hil processors (#1760)
* chore(teleop): remove unnecessary callbacks in KeyboardEndEffectorTeleop (#1761)
* refactor(processor): improvements normalize pipeline migration (#1756)
* refactor(processor): several improvements normalize processor step
* refactor(processor): more improvements normalize processor
* refactor(processor): more changes to normalizer
* refactor(processor): take a different approach to DRY
* refactor(processor): final design
* chore(record): revert comment and continue deleted (#1764)
* refactor(examples): pipeline phone examples (#1769)
* refactor(examples): phone teleop + teleop script
* refactor(examples): phone replay + replay
* chore(examples): rename phone example files & folders
* feat(processor): fix improvements to the pipeline porting (#1796)
* refactor(processor): enhance tensor device handling in normalization process (#1795)
* refactor(tests): remove unsupported device detection test for complementary data (#1797)
* chore(tests): update ToBatchProcessor test (#1798)
* refactor(tests): remove in-place mutation tests for actions and complementary data in batch processor
* test(tests): add tests for action and task processing in batch processor
* add names for android and ios phone (#1799)
* use _tensor_stats in normalize processor (#1800)
* fix(normalize_processor): correct device reference for tensor epsilon handling (#1801)
* add point 5 add missing feature contracts (#1806)
* Fix PR comments 1452 (#1807)
* use key to determine image
* Address rest of PR comments
* use PolicyFeatures in transform_features
---------
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
- Added `make_processor` function to create processor instances for different policy types, including `tdmpc`, `diffusion`, `act`, `vqbet`, `pi0`, `pi0fast`, `sac`, and `reward_classifier`.
- Implemented corresponding processor files for each policy type, encapsulating normalization and unnormalization steps.
- Updated existing policies to remove direct normalization dependencies, enhancing modularity and clarity.
- Enhanced test coverage to validate the integration of new processors with existing policy configurations.
* 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>
Jade Choghari