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176 Commits

Author SHA1 Message Date
Simon Alibert
4687296d93 Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-06-03 19:10:17 +02:00
mshukor
bfd26eef5a 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>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-06-03 17:11:50 +02:00
Simon Alibert
78e29f4f20 Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-05-26 10:54:07 +02:00
Ragnar
bed90e3a41 fix: typos and grammar (#1148) 2025-05-25 17:20:45 +02:00
Simon Alibert
3539251b18 Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-04-14 15:30:35 +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
Simon Alibert
8924ccbbab Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-04-08 10:47:40 +02:00
mshukor
1c873df5c0 Support for PI0+FAST (#921) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-04 11:51:11 +02:00
Simon Alibert
36fcea2002 Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-04-03 08:40:39 +02:00
Steven Palma
78fd1a1e04 chore(docs): update docs (#911) 2025-03-27 09:55:06 +01:00
Simon Alibert
5130b69ece Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-03-25 16:25:47 +01:00
Qizhi Chen
a774af2eab fix pi0 action padding name (#893) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-25 11:24:46 +01:00
Simon Alibert
6541982dff Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-03-20 14:48:19 +01:00
Pepijn
e8159997c7 User/pepijn/2025 03 17 act different image shapes (#870) 2025-03-18 11:09:05 +01:00
Simon Alibert
d6ccdc222c Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots 2025-03-10 18:39:48 +01:00
Steven Palma
5e9473806c refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Steven Palma
5d24ce3160 chore(doc): add license header to all files (#818) 2025-03-05 17:56:51 +01:00
Yachen Kang
b80e55ca44 change "actions_id_pad" to "actions_is_pad"(🐛 Bug) (#774) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-05 01:31:56 +01:00
Simon Alibert
2b24feb604 Update constants 2025-03-04 11:07:15 +01:00
Simon Alibert
a1809ad3de Add typos checks (#770) 2025-02-25 23:51:15 +01:00
Simon Alibert
3354d919fc LeRobotDataset v2.1 (#711) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2025-02-25 15:27:29 +01:00
Simon Alibert
c4c2ce04e7 Update pre-commits (#733) 2025-02-15 15:51:17 +01:00
Simon Alibert
e71095960f Fixes following #670 (#719) 2025-02-12 12:53:55 +01:00
Simon Alibert
90e099b39f Remove offline training, refactor train.py and logging/checkpointing (#670) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-02-11 10:36:06 +01:00
Remi
638d411cd3 Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
Simon Alibert
3c0a209f9f Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +01:00
Hirokazu Ishida
538455a965 feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-10-30 11:00:05 +01:00
Alexander Soare
a60d27b132 Raise ValueError if horizon is incompatible with downsampling (#422) 2024-09-09 17:22:46 +01:00
Joe Clinton
f17d9a2ba1 Bug: Fix VQ-Bet not working when n_action_pred_token=1 (#420) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-09-09 09:41:13 +01:00
Jack Vial
b2896d38f5 fix(act): n_vae_encoder_layers config parameter wasn't being used (#400) 2024-09-02 18:29:27 +01:00
NielsRogge
86bbd16d43 Improve discoverability on the hub (#325) 
Co-authored-by: Lucain <lucainp@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-08-19 15:16:46 +02:00
Alexander Soare
0f6e0f6d74 Fix input dim (#365) 2024-08-19 11:42:32 +01:00
Halvard Bariller
7a3cb1ad34 Adjust the timestamps' description in Diffusion Policy (#343) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-26 12:47:03 +01:00
Alexander Soare
f8a6574698 Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Alexander Soare
abbb1d2367 Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +01:00
Alexander Soare
c0101f0948 Fix ACT temporal ensembling (#319) 2024-07-16 10:27:21 +01:00
Alexander Soare
471eab3d7e Make ACT compatible with "observation.environment_state" (#314) 2024-07-11 13:12:22 +01:00
Seungjae Lee
64425d5e00 Bug fix: fix error when setting select_target_actions_indices in vqbet (#310) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-07-10 17:56:11 +01:00
Alexander Soare
cc2f6e7404 Train diffusion pusht_keypoints (#307) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 12:35:50 +01:00
Simon Alibert
74362ac453 Add VQ-BeT copyrights (#299) 2024-07-04 13:02:31 +02:00
Alexander Soare
342f429f1c Add test to make sure policy dataclass configs match yaml configs (#292) 2024-06-26 09:09:40 +01:00
Seungjae Lee
7d1542cae1 Add VQ-BeT (#166) 2024-06-26 08:55:02 +01:00
Thomas Wolf
48951662f2 Bug fix: missing attention mask in VAE encoder in ACT policy (#279) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 12:07:21 +01:00
Jihoon Oh
b72d574891 fix Unet global_cond_dim to use state dim, not action dim (#278) 2024-06-17 15:17:28 +01:00
Alexander Soare
15dd682714 Add multi-image support to diffusion policy (#218) 2024-06-17 08:11:20 +01:00
Wael Karkoub
54c9776bde Improves Type Annotations (#252) 2024-06-10 19:09:48 +01:00
Ruijie
b0d954c6e1 Fix bug in normalize to avoid divide by zero (#239) 
Co-authored-by: rj <rj@teleopstrio-razer.lan>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-04 12:21:28 +02:00
Alexander Soare
cf15cba5fc Remove redundant slicing operation in Diffusion Policy (#240) 2024-06-03 13:04:24 +01:00
Remi
d585c73f9f Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Alexander Soare
57fb5fe8a6 Improve documentation on VAE encoder inputs (#215) 2024-05-30 19:16:44 +02:00