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545 Commits

Author SHA1 Message Date
Steven Palma
69901b9b6a fix(recording): re-recording episode doesn't increase count of recording episodes (#1395) 2025-06-27 16:02:51 +02:00
Pepijn
2f9ba4e2cc Add api examples IL docs (#1391) 
* 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
Francesco Capuano
f3d931e1b2 Add direct access to action chunks (#1020) 
* fix: sharing predicted chunk with user

* [pre-commit.ci] pre-commit autoupdate (#1011)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* Revert "[pre-commit.ci] pre-commit autoupdate" (#1025)

* fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (#1022)

Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (#1030)

* Update tutorial (#1021)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* Add description motor order SO-101 leader (#1051)

* feat(encoding): switching to PyAV for ffmpeg related tasks (#983)

* feat(docs): Add new docs build process (#1046)

Co-authored-by: Mishig Davaadorj <dmishig@gmail.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>

* Docs: adapt text + fix video code (#1064)

* Fix typos (#1070)

* docs: minor corrections and clean-up (#1089)

* Update 10_use_so100.md; use diff syntax (#944)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* Update 12_use_so101.md (#1081)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* bug fix for #1071 When --display_data=true, Failed running control_robot. (#1073)

* Add editable -e for feetech install command (#1133)

* Fix: emptying action queue between resets (#1117)

* fix: typos and grammar (#1148)

* Update README.md (#1160)

* Update README.md (#1163)

* [Fix]  Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1  (#1127)

* (hotfix): nightly CI by clipping pymunk version below 7.0.0 (#1182)

* [pre-commit.ci] pre-commit autoupdate (#1048)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

* Add SmolVLA (#1175)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: fracapuano <francesco.capuano@huggingface.co>
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* Fix SmolVLA loss not sent to wandb (#1198)

* Hardware API redesign (#777)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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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>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* 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>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* 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>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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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)

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
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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)

Co-authored-by: AdilZouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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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

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

* 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>
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>

* 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>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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 2025-06-27 10:19:19 +02:00
Pepijn
0b2285d1ec Feat: Improve hub integration (#1382) 
* 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>
 2025-06-26 14:36:16 +02:00
Jean-Baptiste Cayrou
a989c79558 docs: Fix the SO-100 documentation, the motors configuration step should be before the assembly instructions (#1315) 
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
 2025-06-26 13:31:32 +02:00
Krzysztof Skrzypski
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
pranavsaroha
a5727e37b4 Fix teleop disconnect during eval (#1364) 2025-06-23 16:49:14 +02:00
koenvanwijk
b8637c09ec Update lekiwi.mdx (#1229) 2025-06-14 23:41:45 +02:00
Michel Aractingi
b852d15774 gym_manipulator.py Remove None value action_intervention of BaseLeaderTeleoperator (#1299) 2025-06-14 20:53:40 +02:00
Francesco Capuano
ce6a26deeb Fixing PI0 Policy (#1297) 2025-06-14 19:25:50 +02:00
Michel Aractingi
697c76f75e learner.py import so101_leader instead of so100 (#1295) 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-06-14 15:30:19 +02:00
Steven Palma
8d7969e7cb fix(record): no teleop arg in reset environment (#1294) 2025-06-14 14:23:07 +02:00
tidely
dcc0c234dd Improve type hints (#1293) 2025-06-14 14:06:22 +02:00
Michel Aractingi
6007a221f0 Add keyboard teleop device to control the end effector robot (#1289) 2025-06-14 09:10:09 +02:00
Pepijn
438334d58e Add sim tutorial, fix lekiwi motor config, add notebook links (#1275) 
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 2025-06-13 18:48:39 +02:00
Steven Palma
69e8946480 fix(docs): update send_feedback docstrings 2025-06-13 18:29:19 +02:00
Simon Alibert
96fa48b5ec Robot integration tutorial (#1285) 2025-06-13 18:23:07 +02:00
Steven Palma
5350a02dc1 chore(teleop): print calibration path saved (#1286) 2025-06-13 15:29:10 +02:00
Adil Zouitine
d8079587a2 Port HIL SERL (#644) 
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 2025-06-13 13:15:47 +02:00
Steven Palma
f976935ba1 fix(record): no teleop needed when running with policy (#1284) 2025-06-13 12:41:30 +02:00
Simon Alibert
5c87365cc1 Skip normalization parameters in load_smolvla (#1274) 2025-06-13 11:06:45 +02:00
Quentin Gallouédec
edfebd522c Use HF Papers (#1120) 2025-06-12 09:58:59 +02:00
Steven Palma
2de93a8000 fix(docs): update realsense documentation (#1268) 2025-06-11 23:16:37 +02:00
Dana Aubakirova
d0521189b1 fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (#1256) 
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 2025-06-11 16:56:55 +02:00
Pepijn
10b7b35325 Match motor names with ids lekiwi (#1261) 2025-06-11 14:21:30 +02:00
Yushun Xiang
459c95197b fix: update pi0 dependency version constraint (#1247) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-06-10 18:46:41 +02:00
koenvanwijk
37748c83ca Proposal for fix for enter_pressed on Windows (#1230) 
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 2025-06-10 18:36:02 +02:00
Sarunas Kalade
2889f3a06a update KochFollower.get_observation() so it returns same observation structure as SO101 (#1248) 
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 2025-06-10 12:42:54 +02:00
Ben Zhang
f0a903c98f Fix unable to set camera width/height to non-default (#1225) 2025-06-10 10:23:33 +02:00
Dhruva
a28f02ecb3 replaced OBS_ROBOT with OBS_STATE constant (#1211) 2025-06-06 09:25:51 +02:00
Steven Palma
09343acce7 fix(smolvla): update record.py, fix populate_queues and remove unused dependencies (#1208) 2025-06-06 09:17:02 +02:00
Simon Alibert
e23b41e79a Hardware API redesign (#777) 
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 2025-06-05 17:48:43 +02:00
Ben Zhang
b536f47e3f Fix SmolVLA loss not sent to wandb (#1198) 2025-06-05 11:13:03 +02:00
mshukor
bfd26eef5a Add SmolVLA (#1175) 
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 2025-06-03 17:11:50 +02:00
Ragnar
bed90e3a41 fix: typos and grammar (#1148) 2025-05-25 17:20:45 +02:00
Francesco Capuano
6163daaaa4 Fix: emptying action queue between resets (#1117) 2025-05-22 21:37:21 +02:00
masato-ka
a445d9c9da bug fix for #1071 When --display_data=true, Failed running control_robot. (#1073) 2025-05-09 16:53:40 +02:00
omahs
8cfab38824 Fix typos (#1070) 2025-05-05 10:35:32 +02:00
Caroline Pascal
6d723c45a9 feat(encoding): switching to PyAV for ffmpeg related tasks (#983) 2025-04-29 17:39:35 +02:00
Pepijn
42bf1e8b9d Update tutorial (#1021) 
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 2025-04-28 09:00:32 +02:00
Alex Thiele
c10c5a0e64 Fix --width --height type parsing on opencv and intelrealsense scripts (#556) 
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 2025-04-17 15:19:23 +02:00
Junshan Huang
a8db91c40e Fix Windows HTML visualization to make videos could be seen (#647) 
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 2025-04-17 15:07:28 +02:00
Steven Palma
4041f57943 feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (#903) 2025-04-09 17:33:01 +02:00
pre-commit-ci[bot]
437fc29e12 [pre-commit.ci] pre-commit autoupdate (#871) 
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 2025-04-08 06:58:46 +02:00
mshukor
1c873df5c0 Support for PI0+FAST (#921) 
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 2025-04-04 11:51:11 +02:00
Steven Palma
b568de35ad fix(datasets): cast imgs_dir as Path (#915) 2025-03-28 18:08:12 +01:00
Steven Palma
78fd1a1e04 chore(docs): update docs (#911) 2025-03-27 09:55:06 +01:00
AlexC
2c22f7d76d Add offline mode in the configuration for wandb logging (#897) 
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 2025-03-25 13:44:49 +01:00
Qizhi Chen
a774af2eab fix pi0 action padding name (#893) 
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 2025-03-25 11:24:46 +01:00
Steven Palma
a6015a55f9 chore(scripts): remove deprecated script (#887) 2025-03-23 01:16:50 +01:00