mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Kartik
fc296548cb
* adding Isaaclab Arena from collab
* adding into lerobot-eval
* minor modification
* added bash script for env setup
* setups
* fix applauncher not getting the arguments
* data conversion, train and eval smolvla
* fixed imports
* clean-up
* added test suits & clean up - wip
* fixed video recording
* clean-up
* hub integration working
* clean-up
* added kwargs
* Revert "added kwargs"
This reverts commit 9b445356385d0707655cf04d02be058b25138119.
* added kwargs
* clean-up
* cleaned unused function
* added logging
* docs
* cleaned up IsaaclabArenaEnv
* clean-up
* clean-up
* clean up
* added tests
* minor clean-up
* fix: support for state based envs
* feat(envs): Add NVIDIA IsaacLab Arena integration with LeRobot for policy evaluation at scale
* feat(envs): Add IsaacLab Arena integration for policy evaluation
Integrate NVIDIA IsaacLab Arena with LeRobot to enable GPU-accelerated
simulation through the EnvHub infrastructure.
This enables:
- Training imitation learning policies (PI0, SmolVLA, etc.)
- Evaluating trained policies in with IsaacLab Arena
The implementation adds:
- IsaaclabArenaEnv config with Arena-specific parameters
- IsaaclabArenaProcessorStep for observation processing
- Hub loading from nvkartik/isaaclab-arena-envs repository
- Video recording support
Available environments include GR1 microwave manipulation, Galileo
pick-and-place, G1 loco-manipulation, and button pressing tasks.
Datasets: nvkartik/Arena-GR1-Manipulation-Task
Policies: nvkartik/pi05-arena-gr1-microwave,
nvkartik/smolvla-arena-gr1-microwave
* added isaaclab arena wrapper and corresponding tests
* added error handling
* renamed wrapper file: isaaclab_arena to isaaclab
* added extra kwarg changes
* adjustments for hub envs
* correct class name in test file
* fixed parsing of env_kwargs
* tested end to end
* removed unused code
* refactor design
* shifted IsaacLab to hub
* removed IsaacLab tests
* docs: Add LW-BenchHub evaluation instructions
* docs: Add LW-BenchHub evaluation instructions
* docs diet
* minor edits to texts
* IL Arena commit hash
* update links
* minor edits
* fix numpy version after install of lerobot
* links update
* valideated on vanilla brev
* docs: Add LW-BenchHub evaluation instructions
* remove kwargs from all make_env calls
* remove kwargs from all make_env calls
* fix LW table and indentations
* remove environment list from docs
* docs: Update lw-benchhub eval config in envhub docs
* removing kwargs
* removed extra line
* ensure pinocchio install for lightwheel + add lightwheel website link
* remove env_kwargs
* no default empty value for hub_path
* not using assert method
* remove env_processor defaults
* revert and adding default "" value for hub_path
* pinning down packages versions
* explicit None value for hub_path
* Update src/lerobot/configs/eval.py
Co-authored-by: Jade Choghari <chogharijade@gmail.com>
Signed-off-by: Lior Ben Horin <liorbenhorin@gmail.com>
* corrected formatting
* corrected job_name var in config
* updated docs and namespace
* updated namespace
* updated docs
* updated docs
* added hardware requirements
* updated docs
---------
Signed-off-by: Lior Ben Horin <liorbenhorin@gmail.com>
Co-authored-by: lbenhorin <lbenhorin@nvidia.com>
Co-authored-by: Lior Ben Horin <liorbenhorin@gmail.com>
Co-authored-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: tianheng.wu <tianheng.wu@lightwheel.ai>
119 lines
2.8 KiB
YAML
119 lines
2.8 KiB
YAML
- sections:
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- local: index
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title: LeRobot
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- local: installation
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title: Installation
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title: Get started
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- sections:
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- local: il_robots
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title: Imitation Learning for Robots
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- local: cameras
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title: Cameras
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- local: bring_your_own_policies
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title: Bring Your Own Policies
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- local: integrate_hardware
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title: Bring Your Own Hardware
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- local: hilserl
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title: Train a Robot with RL
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- local: hilserl_sim
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title: Train RL in Simulation
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- local: multi_gpu_training
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title: Multi GPU training
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title: "Tutorials"
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- sections:
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- local: lerobot-dataset-v3
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title: Using LeRobotDataset
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- local: porting_datasets_v3
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title: Porting Large Datasets
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- local: using_dataset_tools
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title: Using the Dataset Tools
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title: "Datasets"
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- sections:
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- local: act
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title: ACT
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- local: smolvla
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title: SmolVLA
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- local: pi0
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title: π₀ (Pi0)
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- local: pi05
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title: π₀.₅ (Pi05)
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- local: groot
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title: NVIDIA GR00T N1.5
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- local: xvla
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title: X-VLA
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- local: walloss
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title: WALL-OSS
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title: "Policies"
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- sections:
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- local: sarm
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title: SARM
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title: "Reward Models"
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- sections:
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- local: async
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title: Use Async Inference
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- local: rtc
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title: Real-Time Chunking (RTC)
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title: "Inference"
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- sections:
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- local: envhub
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title: Environments from the Hub
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- local: envhub_leisaac
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title: Control & Train Robots in Sim (LeIsaac)
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- local: envhub_isaaclab_arena
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title: NVIDIA IsaacLab Arena Environments
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- local: libero
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title: Using Libero
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- local: metaworld
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title: Using MetaWorld
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title: "Simulation"
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- sections:
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- local: introduction_processors
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title: Introduction to Robot Processors
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- local: debug_processor_pipeline
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title: Debug your processor pipeline
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- local: implement_your_own_processor
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title: Implement your own processor
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- local: processors_robots_teleop
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title: Processors for Robots and Teleoperators
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- local: env_processor
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title: Environment Processors
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title: "Robot Processors"
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- sections:
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- local: so101
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title: SO-101
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- local: so100
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title: SO-100
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- local: koch
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title: Koch v1.1
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- local: lekiwi
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title: LeKiwi
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- local: hope_jr
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title: Hope Jr
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- local: reachy2
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title: Reachy 2
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- local: unitree_g1
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title: Unitree G1
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- local: earthrover_mini_plus
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title: Earth Rover Mini
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title: "Robots"
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- sections:
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- local: phone_teleop
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title: Phone
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title: "Teleoperators"
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- sections:
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- local: torch_accelerators
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title: PyTorch accelerators
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title: "Supported Hardware"
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- sections:
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- local: notebooks
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title: Notebooks
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- local: feetech
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title: Updating Feetech Firmware
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title: "Resources"
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- sections:
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- local: contributing
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title: Contribute to LeRobot
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- local: backwardcomp
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title: Backward compatibility
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title: "About"
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