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Author SHA1 Message Date
Michel Aractingi
c7c3b477d6 Fix sample beta for smolvla as done for pi0, remove sample_beta func (#1611) 2025-07-28 17:28:55 +02:00
Caroline Pascal
b267cd40f7 fix(tokenizers dependency): adding ceiling version on tokenizers (#1612) 2025-07-28 17:05:44 +02:00
Lumen Yang
7fe6adaf61 fix(config): typing correction on config.py (#1320) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-07-28 15:22:37 +02:00
Kleist Bond
4b88842d20 fix bug about sampling time from beta distribution (#1605) 
* fix bug about sampling t from beta distribution

* fix: address review comments

---------
 2025-07-28 15:17:30 +02:00
Adil Zouitine
c3d5e494c0 fix(policies): remove action from batch for offline evaluation (#1609) 
* fix(policies): remove action from batch for offline evaluation in diffusion, tdmpc, and vqbet policies

* style(diffusion): correct comment capitalization for clarity in modeling_diffusion.py
 2025-07-28 13:10:34 +02:00
Caroline Pascal
664e069c3f docs/style: updating docs and deprecated links (#1584) 2025-07-28 12:55:47 +02:00
Adil Zouitine
b61a4ded9a chore(pi0fast): TODO comment to warn the need for removal ignore_index (#1593) 2025-07-28 11:49:05 +02:00
Michel Aractingi
98746c7cf9 bump wandb version to be compatible with ne grpcio-deps (#1604) 2025-07-28 11:45:30 +02:00
Adil Zouitine
615adfc48d smolfix(vla): typing and fix offline inference when action in the batch (#1597) 2025-07-28 11:44:22 +02:00
Caroline Pascal
f089ab3628 fix(hf hub dependency): adding ceiling version on huggingface_hub (#1608) 2025-07-28 11:09:18 +02:00
arulloomba1
dacd1d7f5c Fixing all broken links in integrate_hardware document (#1445) 
Signed-off-by: arulloomba1 <145633197+arulloomba1@users.noreply.github.com>
 2025-07-25 16:44:43 +02:00
HUANG TZU-CHUN
b2a71c6fe4 fix: Rename sync_cache_first to force_cache_sync in LeRobotDataset docstring (#1310) 2025-07-25 15:08:00 +02:00
Steven Palma
d4f962fb34 feat(ci): add entrypoints + add version checks + add minimal release testing + uncomment publishing to pypi (#1589) 2025-07-25 12:06:46 +02:00
Adil Zouitine
4c8f002055 fix(act): disable VAE during offline inference (#1588) 
Prevent VAE inference when running in offline mode. In the lerobot dataset, the presence of the 'action' field incorrectly triggers the VAE inference block. This leads to a RuntimeError due to mismatched tensor dimensions (3 vs 2) when concatenating cls_embed, robot_state_embed, and action_embed—since action_embed lacks the chunk_size dimension. Additionally, this aligns with the original paper, where variational inference is skipped during inference.
 2025-07-24 17:09:12 +02:00
Eugene Mironov
989f3d05ba [Async Inference] Merge Protos & refactoring (#1480) 
* Merge together proto files and refactor Async inference

* Fixup for Async inference

* Drop not reuqired changes

* Fix tests

* Drop old async files

* Drop chunk_size param

* Fix versions

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

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* Fix wrong fix

Co-authored-by: Ben Zhang <ben.zhang@uwaterloo.ca>

* Fixup

---------

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Ben Zhang <ben.zhang@uwaterloo.ca>
Co-authored-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
 2025-07-23 11:30:01 +02:00
Steven Palma
f5d6b5b3a7 test(cameras): skip depth test in rs camera for latest version (#1574) 
* test(cameras): increase timeout in depth read for testing

* test(cameras): skip test_depth in realsense

---------

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-07-22 15:14:01 +02:00
Michel Aractingi
835f0eddfa bug(gamepad_utils) inverted axis between x and y (#1572) 2025-07-22 14:31:30 +02:00
Simon Alibert
5d2aef61b8 Pre-commits fixes (#1568) 
* Replace typos w/ mirror

* Update ruff

* Replace prettier mirror
 2025-07-22 11:56:23 +02:00
Caroline Pascal
9b9f4757fb style(deprecated method): remove no longer used get_features_from_robot function (replaced by hw_to_dataset_features) (#1560) 2025-07-21 19:12:03 +02:00
Steven Palma
f6ec1d89a5 feat(ci): add release workflow (#1562) 2025-07-21 19:08:32 +02:00
Daniel Ritchie
f59baeab45 bump version for breaking changes in 1417 (#1515) 2025-07-21 17:16:50 +02:00
Michel Aractingi
17efa2ff8e Add disclaimer to pi0 from_pretrained (#1550) 2025-07-21 10:57:35 +02:00
Adil Zouitine
26cb4614c9 fix: calibration workflow when using robot_id with existing calibration files (#1528) 2025-07-20 23:41:19 +02:00
Steven Palma
e88b30e6cc fix(ci): multiple fixes (#1549) 
* fix(ci): tag of image when pushing to main

* fix(docs): remove symlink in docs folder

* chore(docs): move .mdx files to docs/ folder

* chore(docs): create symlink to docs files

* chore(ci): de-couple fast and full test pipeline

* fix(ci): skip GPU Tests for community PRs
 2025-07-20 23:09:35 +02:00
Jakob Frick
9229f21b23 Advise placement of cable during assembly, clarify USB instructions (#1545) 
* Update so101.mdx

Signed-off-by: Jakob Frick <jakob.maria.frick@gmail.com>

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

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* Update so101.mdx

Signed-off-by: Jakob Frick <jakob.maria.frick@gmail.com>

---------

Signed-off-by: Jakob Frick <jakob.maria.frick@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-07-20 10:33:51 +02:00
Steven Palma
89f59b0703 refactor(ci): workflows improvements (#1535) 
* refactor(ci): consolidate documentation workflows

* refactor(ci): improve quality workflow

* refactor(ci): edit security workflow

* refactor(ci): improve testing workflows

* fix(ci): several fixes

* chore(ci): renaming + permissions

* chore(ci): remove now unused dockerfiles

* chore(docs): add license headers to dockerfiles

* chore(ci): add cache-binary false to setup-buildx actions

* fix(ci): several fixes

* dgb(ci): explicit env in the workflow

* fix(ci): more explicit env vars for writing

* fix(ci): nightly gpu tag
 2025-07-19 20:09:12 +02:00
Xingdong Zuo
e6e1f085d4 Feat: Add Batched Video Encoding for Faster Dataset Recording (#1390) 
* LeRobotDataset video encoding: updated `save_episode` method and added `batch_encode_videos` method to handle video encoding based on `batch_encoding_size`, allowing for both immediate and batched encoding.

* LeRobotDataset video cleanup: Enabled individual episode cleanup and check for remaining PNG files before removing the `images` directory.

* LeRobotDataset - VideoEncodingManager: added proper handling of pending episodes (encoding, cleaning) on exit or recording failures.

* LeRobotDatasetMetadata: removed `update_video_info` to only update video info at episode index 0 encoding.

* Adjusted the `record` function to utilize the new encoding management logic.

* Removed `encode_videos` method from `LeRobotDataset` and `encode_episode_videos` outputs as they are nowhere used.

---------

Signed-off-by: Xingdong Zuo <zuoxingdong@users.noreply.github.com>
Co-authored-by: Xingdong Zuo <xingdong.zuo@navercorp.com>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
 2025-07-18 12:18:52 +02:00
Steven Palma
862a4439ea chore(examples): remove outdated examples (#1526) 2025-07-17 18:09:16 +02:00
Steven Palma
38d3737f09 feat(ci): add new & clean dockerfiles (#1525) 2025-07-17 18:07:07 +02:00
Juan Pizarro
7e9f955b40 fix(hil-serl): drain queue on get_last_item_from_queue (#1524) 
* fix(hil-serl): drain queue on get_last_item_from_queue

* parametrize queue tests

* revert changes for Darwin

* revert parametrize queue tests

* add test_get_last_item_multiple_items_with_torch_queue

* update test_get_last_item_multiple_items_with_torch_queue

* update test_get_last_item_multiple_items_with_torch_queue
 2025-07-17 17:01:48 +02:00
Steven Palma
378e1f0338 Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520) 
* chore: update .gitignore

* chore: update pre-commit

* chore(deps): update pyproject

* fix(ci): multiple fixes

* chore: pre-commit apply

* chore: address review comments

* Update pyproject.toml

Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

* chore(deps): add todo

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com>
 2025-07-17 14:30:20 +02:00
Pepijn
0938a1d816 Feat/add bimanual so100 robot (#1509) 2025-07-16 17:50:36 +02:00
Eugene Mironov
816034948a [Async Inference] Add gRPC retry mechanism to Async client (#1485) 
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-07-16 16:13:01 +02:00
Michel Aractingi
dfb1571bcf Added missing licenses (#1517) 
* Added missing liscenses
 2025-07-16 11:31:25 +02:00
Eugene Mironov
3efb4410f1 Fix logging for mps in auto_select_torch_device (#1513) 2025-07-15 21:23:00 +02:00
Ben Zhang
1c0ac8e341 Parse draccus subclass overrides when using --policy.path (#1501) 
* Parse draccus subclass overrides when using --policy.path

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

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---------

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>
 2025-07-15 12:29:07 +02:00
pre-commit-ci[bot]
c4c0105a47 [pre-commit.ci] pre-commit autoupdate (#1327) 
* [pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/adhtruong/mirrors-typos: v1.33.1 → v1.34.0](https://github.com/adhtruong/mirrors-typos/compare/v1.33.1...v1.34.0)
- [github.com/astral-sh/ruff-pre-commit: v0.11.13 → v0.12.3](https://github.com/astral-sh/ruff-pre-commit/compare/v0.11.13...v0.12.3)
- [github.com/woodruffw/zizmor-pre-commit: v1.9.0 → v1.11.0](https://github.com/woodruffw/zizmor-pre-commit/compare/v1.9.0...v1.11.0)
- [github.com/PyCQA/bandit: 1.8.3 → 1.8.6](https://github.com/PyCQA/bandit/compare/1.8.3...1.8.6)

* Ignore B615

---------

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>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-07-15 12:28:22 +02:00
aka
1b878c9155 fix(record): Improve OpenCV backend handling for Windows systems (#1495) 
* fix(record): Improve OpenCV backend handling for Windows systems

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

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

* Resolved ruff's E402 error (import statements not at the beginning of the file):
- Moved all import statements to the beginning of the file
- Defined _fix_opencv_backend() as a function
- Adjusted the timing of the fix call
- Code structure conforming to ruff

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

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* fix(record): Correct OpenCV backend for Windows systems

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

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* fix(opencv): Set OpenCV environment variable for Windows systems

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

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* fix(opencv): Refactor MSMF hardware transform environment variable setting for Windows

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

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

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-07-15 11:33:02 +02:00
Simon Alibert
724874e063 Fix tests (#1510) 2025-07-15 11:27:01 +02:00
Adil Zouitine
91b110d806 fix(mps): gradient exploding and nan loss issues with ACT (#1490) 
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-07-15 10:28:19 +02:00
Ben Zhang
519b76110e Remove random noise injected by policy server (#1496) 2025-07-13 21:58:05 +02:00
Francesco Capuano
d2645cb19f fix(docs): Record-Upload failed? Don't panic! (#1478) 
* fix: add instruction to manually upload dataset

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

* fix: repo type is explicited

---------

Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-07-10 20:13:56 +02:00
Francesco Capuano
abe51eeba3 Update async docs with blogpost (#1479) 
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-07-10 12:24:40 +02:00
Francesco Capuano
30c161006d Add Async Inference (#1196) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-07-10 10:39:11 +02:00
Adil Zouitine
ce2b9724bf fix(hil-serl): discrete critic send through network (#1468) 
Co-authored-by: Khalil Meftah <kmeftah.khalil@gmail.com>
Co-authored-by: jpizarrom <jpizarrom@gmail.com>
 2025-07-09 16:22:40 +02:00
Caroline Pascal
cf86b9300d fix(logging): Fixing logging levels (#1466) 
* fix(logging): Fixing logging levels, adding custom logging levels for console and file logging

* clean(typing): Adding typing in logging formatter, use proper getter for logging message
 2025-07-08 18:59:13 +02:00
Simon Alibert
039de254ea Add Hope Jr (#935) 
* Fix imports

* Add feetech write tests

* Nit

* Add autoclosing fixture

* Assert ping stub called

* Add CalibrationMode

* Add Motor in dxl robots

* Simplify split_int_bytes

* Rename read/write -> sync_read/write, refactor, add write

* Rename tests

* Refactor dxl tests by functionality

* Add dxl write test

* Refactor _is_comm_success

* Refactor feetech tests by functionality

* Add feetech write test

* Simplify _is_comm_success & _is_error

* Move mock_serial patch to dedicated file

* Remove test skips & fix docstrings

* Nit

* Add dxl operating modes

* Add is_connected in robots and teleops

* Update Koch

* Add feetech operating modes

* Caps dxl OperatingMode

* Update ensure_safe_goal_position

* Update so100

* Privatize methods & renames

* Fix dict

* Add _configure_motors & move ping methods

* Return models (str) with pings

* Implement feetech broadcast ping

* Add raw_values option

* Rename idx -> id_

* Improve errors

* Fix feetech ping tests

* Ensure motors exist at connection time

* Update tests

* Add test_motors_bus

* Move DriveMode & TorqueMode

* Update Koch imports

* Update so100 imports

* Fix visualize_motors_bus

* Fix imports

* Add calibration

* Rename idx -> id_

* Rename idx -> id_

* (WIP) _async_read

* Add new calibration method for robot refactor (#896)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

* Remove deprecated scripts

* Rename CalibrationMode -> MotorNormMode

* Fix calibration functions

* Remove todo

* Add scan_port utility

* Add calibration utilities

* Move encoding functions to encoding_utils

* Add test_encoding_utils

* Rename test

* Add more calibration utilities

* Format baudrate tables

* Implement SO-100 leader calibration

* Implement SO-100 follower calibration

* Implement Koch calibration

* Add test_scan_port (TODO)

* Fix calibration

* Hack feetech firmware bug

* Update tests

* Update Koch & SO-100

* Improve format

* Rename SO-100 classes

* Rename Koch classes

* Add calibration tests

* Remove old calibration tests

* Revert feetech hack and monkeypatch instead

* Simplify motors mocks

* Add is_calibrated test

* Update viperx & widowx

* Rename viperx & widowx

* Remove old calibration

* feat(teleop): thread-safe keyboard teleop implementation (#869)

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

* Add support for feetech scs series + various fixes

* Update dynamixel with motors bus & tables changes

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

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

* (WIP) Add Hope Jr

* Rename arm -> hand

* (WIP) Add homonculus arm & glove

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

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

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* Add Feetech protocol version

* Implement read

* Use constants from sdks

* (nit) move write

* Fix broadcast ping type hint

* Add protocol 1 broadcast ping

* Refactor & add _serialize_data

* Add feetech sm8512bl

* Make feetech broadcast ping faster in protocol 1

* Cleanup

* Add support for feetech protocol 1 to _split_into_byte_chunks

* Fix unormalize

* Remove test_motors_bus fixtures

* Add more segmented tests (base motor bus & feetech), add feetech protocol 1 support

* Add more segmented tests (dynamixel)

* Refactor tests

* Add handshake, fix feetech _read_firmware_version

* Fix tests

* Motors config & disconnect fixes

* Add torque_disabled context

* Update branch & fix pre-commit errors

* Fix hand & glove readings

* Update feetech tables

* Move read/write_calibration implementations

* Add setup_motor

* Fix calibration msg display

* Fix setup_motor & add it to robots

* Fix _find_single_motor

* Remove deprecated configure_motor

* Remove deprecated dynamixel_calibration

* Remove names

* Remove deprecated import

* refactor/lekiwi robot (#863)

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

* fix(teleoperators): use property is_connected (#1075)

* Remove deprecated manipulator

* Update robot features & naming

* Update teleop features & naming

* Add make_teleoperator_from_config

* Rename find_port

* Fix config parsing

* Remove app script

* Add setup_motors

* Add teleoperate

* Add record

* Add replay

* Fix test_datasets

* Add mock robot & teleop

* Add new test_control_robot

* Add test_record_and_resume

* Remove deprecated scripts & tests

* Add calibrate

* Add docstrings

* Fix tests (no-extras install)

* Add SO101

* Remove pynput from optional deps

* Rename example 7

* Remove unecessary id

* Add MotorsBus docstrings

* Rename arm -> bus

* Remove Moss arm

* Fix setup_motors & calibrate configs

* Fix test_calibrate

* Add copyrights

* Update hand & arm

* Update homonculus hand & arm

* Fix dxl _find_single_motor

* Update glove

* Add setup_motors for lekiwi

* Fix glove calibration

* Complete docstring

* Add check for same min and max during calibration

* Move MockMotorsBus

* Add so100_follower tests

* (WIP) add calibration gui

* Fix test

* Add setup_motors

* Update calibration gui

* Remove old .cache folder

* Replace deprecated abc.abstractproperty

* Fix feetech protocol 1 configure

* Cleanup gui & add copyrights

* Anatomically precise joint names

* (WIP) Add glove to hand joints translation

* Move make_robot_config

* Add drive_mode & norm_mode in glove calibration

* Fix joints translation

* Fix normalization drive_mode

* nit

* Fix glove to hand conversion

* Adapt feetech calibration

* Remove pygame prompt

* Implement arm calibration (hacks)

* Better MotorsBus error messages

* Update feetech read_calibration

* Fix feetech test_is_calibrated

* Cleanup glove

* (WIP) Update arm

* Add changes from #1117

* refactor(cameras): cameras implementations + tests improvements (#1108)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* Fix arm joints order

* Add timeout/event logic

* Fix arm & glove

* Fix predict_action from record

* fix(cameras): update docstring + handle sn when starts with 0 + update timeouts to more reasonable value (#1154)

* fix(scripts): parser instead of draccus in record + add __get_path_fields__() to RecordConfig (#1155)

* Left/Right sides + other fixes

* Arm fixes and add config

* More hacks

* Add control scripts

* Fix merge errors

* push changes to calibration, teleop and docs

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

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* Move readme to docs

* update readme

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* Add files via upload

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* Update image sources

* Symlink doc

* Compress image

* Move image

* Update docs link

* fix docs

* simplify teleop scripts

* fix variable names

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

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* Address code review

* add EMA to glove

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

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* integrate teleoperation for hand

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

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* update docs

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

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* import hopejr/homunculus in teleoperate

* update docs for teleoperate, record, replay, train and inference

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

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* chore(hopejr): address comments

* chore(hopejr): address coments 2

* chore(docs): update teleoperation instructions for the hand/glove

* fix(hopejr): calibration int + update docs

---------

Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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 2025-07-08 15:47:11 +02:00
Francesco Capuano
a5e0aae13a Fixes @torch.no_grad() usage (#1455) 
* fix: decorator calls with parentheses

* fix no grad for normalize too

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

---------

Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
 2025-07-08 13:08:32 +02:00
Ben Zhang
aec1b29d23 Fix indentation (#1436) 2025-07-04 14:56:12 +02:00
Michel Aractingi
63ddfefa08 Remove references to lerobot.common (#1432) 2025-07-02 18:08:20 +02:00