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
bc68651815
add command
2026-01-16 16:43:45 +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
d1f50babaa
fix rac data collection with rtc by disabling compile
2026-01-15 17:06:58 +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
3316301693
debug rtc
2026-01-09 16:58:57 +01:00
feedababd2
debug
2026-01-09 16:54:11 +01:00
480ee3299f
log
2026-01-09 16:50:44 +01:00
2d1fb0f508
refactor
2026-01-09 16:41:59 +01:00
b1a55b0666
by default dont use rtc
2026-01-09 16:26:54 +01:00
24af996f82
add logging
2026-01-09 16:10:32 +01:00
8d7eec79c8
f
2026-01-09 16:06:02 +01:00
ccced0c9fc
f
2026-01-09 15:58:37 +01:00
4166eeb7da
have only rtc thread read obs and expose it
2026-01-09 15:48:49 +01:00
1f93a74d8c
fix queue
2026-01-09 14:00:06 +01:00
b16e2f25f7
remove move to zero due to potential race condition
2026-01-09 13:56:16 +01:00
9cc841c674
wait for first actions
2026-01-09 13:45:06 +01:00
63c28ea395
add cmd arg
2026-01-09 13:38:33 +01:00
98c33a4748
Add RaC with RTC
2026-01-09 13:26:25 +01:00
4428248a01
Increase d
2026-01-09 13:17:18 +01:00
7d6f113072
fix at 2x actual freq
2026-01-09 13:03:29 +01:00
7ac05c838d
add interpolation option
2026-01-09 12:56:43 +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
242b65d2df
chore(docs): update code block syntax to specify python for clarity ( #2770 )
2026-01-08 14:45:07 +01:00
ccfd609ece
feat(robots): consolidate SO arms implementation ( #2763 )
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* feat(robots): consolidate SO arms implementation
* chore(robots): delete unnecessary init modules
2026-01-08 13:04:30 +01:00
fbe4c8b94f
Feat/remote rerunviz encoded images ( #2767 )
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* feat(visualization): allow remote viewer + compress rerun images
* fix(tests): allow named argument in mocked rerun
* feat(visualization): ip instead or url & cli arg for compressing images
---------
Co-authored-by: J4nn1K <jannik@grothusen.de >
2026-01-07 17:38:13 +01:00
4f7cd8d369
Revert "feat(visualization): allow remote viewer + compress rerun images ( #2756 )" ( #2766 )
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This reverts commit f844c7a458
2026-01-07 17:33:36 +01:00
f844c7a458
feat(visualization): allow remote viewer + compress rerun images ( #2756 )
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* feat(visualization): allow remote viewer + compress rerun images
* fix(tests): allow named argument in mocked rerun
* feat(visualization): ip instead or url & cli arg for compressing images
2026-01-07 17:30:45 +01:00
7e9d05a799
add holosoma locomotion ( #2669 )
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Add holosoma locomotion from Amazon-FAR
Add reset method to unitree_g1
Format actions as dict
Update docs
2026-01-07 16:05:31 +01:00
ecd8cd23d2
chore(dependencies): bound new dependecies ( #2759 )
2026-01-07 11:04:21 +01:00
a9d81e7f67
refactor(ci): Docker Hub image env ( #2755 )
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* Refactor Docker Hub image env
Updated environment variable usage for Docker Hub credentials and corrected image tag extraction.
Signed-off-by: Pauline Bailly-Masson <155966238+paulinebm@users.noreply.github.com >
* same
Signed-off-by: Pauline Bailly-Masson <155966238+paulinebm@users.noreply.github.com >
* Apply suggestions from code review
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
* chore(ci): remove duplicated IMAGE_FULL variable definition
---------
Signed-off-by: Pauline Bailly-Masson <155966238+paulinebm@users.noreply.github.com >
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2026-01-07 00:21:03 +01:00
e2957d7783
fix: precise_sleep is never called with negative value ( #2757 )
2026-01-06 20:09:43 +01:00
963a3482fa
typo LW ( #2758 )
2026-01-06 18:17:29 +01:00
603d44434f
fix a bug for kwargs in wallx ( #2714 )
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* support wallx
* fix bugs in flow
* incorporate wallx model into lerobot
* update the policy methods
* reduce to least config and params & pass lerobot basic test
* fixed dtype bugs
* add wallx dependencies
* update
* remove flash-attn requirement && fix bug in inference and fast mode
* fix bug for inference
* add some small modifications
* fix pre-commit errors
* remove lerobot[wallx]
* fix ci
* fix precommit issues
* fix: exclude wallx extra properly in CI workflows
* fix: add uv conflicts for wallx transformers version
* fix: peft test import
* pre-commit
* only export WallXConfig from wall_x package to avoid peft import in CI
* remove torch dep
* precommit
* add import
* update doc files
* fix minor errors
* fix a bug for kwargs
* fix precommit issue
---------
Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: vincentchen <chenlufang@x2robot.com >
Co-authored-by: Geoffrey19 <sympathischmann35@gmail.com >
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: Pepijn <pepijn@huggingface.co >
Co-authored-by: geoffrey <geoffrey@x2robot.com >
2026-01-06 15:13:35 +01:00
Alex Tyshka