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  • 1e49cc4d60 Prevent resuming from hub (#726) Simon Alibert 2025-02-13 17:15:55 +01:00
  • 95de8e273d nit Michel Aractingi 2025-02-13 17:12:57 +01:00
  • b07d95f0dd removed uncomment in actor server Michel Aractingi 2025-02-13 16:53:33 +01:00
  • d9a70376d8 Changed the init_final value to center the starting mean and std of the policy Michel Aractingi 2025-02-13 16:42:43 +01:00
  • 0c32008466 Changed bounds for a new so100 robot Michel Aractingi 2025-02-13 15:43:30 +01:00
  • c462a478c7 Hardcoded some normalization parameters. TODO refactor Added masking actions on the level of the intervention actions and offline dataset Michel Aractingi 2025-02-13 14:27:14 +01:00
  • 459f22ed30 fix log_alpha in modeling_sac: change to nn.parameter added pretrained vision model in policy Michel Aractingi 2025-02-13 11:26:24 +01:00
  • dc086dc21f Added logging for interventions to monitor the rate of interventions through time Added an s keyboard command to force success in the case the reward classifier fails Michel Aractingi 2025-02-13 11:04:49 +01:00
  • b9217b06db Added possiblity to record and replay delta actions during teleoperation rather than absolute actions Michel Aractingi 2025-02-12 19:25:41 +01:00
  • e71095960f Fixes following #670 (#719) Simon Alibert 2025-02-12 12:53:55 +01:00
  • d67ca342e9 Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_10_dataset_v2.1 Simon Alibert 2025-02-11 17:17:39 +01:00
  • 6868c88ef1 [PORT-Hilserl] classifier fixes (#695) Yoel 2025-02-11 11:39:17 +01:00
  • a1d16fb400 [Port HIL-SERL] Add resnet-10 as default encoder for HIL-SERL (#696) Eugene Mironov 2025-02-11 17:37:00 +07:00
  • a7db3959f5 - Added JointMaskingActionSpace wrapper in gym_manipulator in order to select which joints will be controlled. For example, we can disable the gripper actions for some tasks. - Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop. - changed the non-blocking in the .to(device) functions to only work for the case of cuda because they were causing nans when running the policy on mps - Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only. Michel Aractingi 2025-02-11 11:34:46 +01:00
  • 90e099b39f Remove offline training, refactor train.py and logging/checkpointing (#670) Simon Alibert 2025-02-11 10:36:06 +01:00
  • 57c9c21c39 Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_10_dataset_v2.1 Simon Alibert 2025-02-10 17:22:57 +01:00
  • 334deb985d Update CI trigger rules (#712) Simon Alibert 2025-02-10 17:22:15 +01:00
  • 38c14571cc Bump CODEBASE_VERSION Simon Alibert 2025-02-10 16:39:34 +01:00
  • b5f89439ff Added sac_real config file in the policym configs dir. Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Michel Aractingi 2025-02-10 16:08:13 +01:00
  • d51374ce12 Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment. Michel Aractingi 2025-02-10 16:03:39 +01:00
  • 27c6b84b1f merge main Pepijn 2025-02-10 13:22:26 +01:00
  • 8548a87bd4 Remove dataset tests artifacts (#701) Simon Alibert 2025-02-09 14:24:01 +01:00
  • 38e36d2d4c Improve pi0 (WIP) user/rcadene/2025_02_07_improve_pi0 Remi Cadene 2025-02-07 13:38:47 +01:00
  • b63738674c [HIL-SERL port] Add Reward classifier benchmark tracking to chose best visual encoder (#688) Eugene Mironov 2025-02-07 00:39:51 +07:00
  • 12525242ce - Added lerobot/scripts/server/gym_manipulator.py that contains all the necessary wrappers to run a gym-style env around the real robot. - Added lerobot/scripts/server/find_joint_limits.py to test the min and max angles of the motion you wish the robot to explore during RL training. - Added logic in manipulator.py to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml. Michel Aractingi 2025-02-06 16:29:37 +01:00
  • 7d5a9530f7 fixed bug in crop_dataset_roi.py added missing buffer.pt in server dir Michel Aractingi 2025-02-05 18:22:50 +00:00
  • e0527b4a6b Added additional wrappers for the environment: Action repeat, keyboard interface, reset wrapper Tested the reset mechanism and keyboard interface and the convert wrapper on the robots. Michel Aractingi 2025-02-04 17:41:14 +00:00
  • 638d411cd3 Add Pi0 (#681) Remi 2025-02-04 18:01:04 +01:00
  • efb1982eec Added crop_dataset_roi.py that allows you to load a lerobotdataset -> crop its images -> create a new lerobot dataset with the cropped and resized images. Michel Aractingi 2025-02-03 17:48:35 +00:00
  • dd974529cf User/pepijn/2025 01 31 improved tutorial so100 (#666) Pepijn 2025-02-03 18:27:55 +01:00
  • 2211209be5 - Added base gym env class for the real robot environment. - Added several wrappers around the base gym env robot class. - Including: time limit, reward classifier, crop images, preprocess observations. - Added an interactive script crop_roi.py where the user can interactively select the roi in the observation images and return the correct crop values that will improve the policy and reward classifier performance. Michel Aractingi 2025-02-03 14:52:45 +00:00
  • 506821c7df - Refactor observation encoder in modeling_sac.py - added torch.compile to the actor and learner servers. - organized imports in train_sac.py - optimized the parameters push by not sending the frozen pre-trained encoder. Michel Aractingi 2025-01-31 16:45:52 +00:00
  • f1c8bfe01e [Port HIL-SERL] Add HF vision encoder option in SAC (#651) Yoel 2025-01-31 09:42:13 +01:00
  • 7c89bd1018 Cleaned learner_server.py. Added several block function to improve readability. Michel Aractingi 2025-01-31 08:33:33 +00:00
  • 367dfe51c6 Added support for checkpointing the policy. We can save and load the policy state dict, optimizers state, optimization step and interaction step Added functions for converting the replay buffer from and to LeRobotDataset. When we want to save the replay buffer, we convert it first to LeRobotDataset format and save it locally and vice-versa. Michel Aractingi 2025-01-30 17:39:41 +00:00
  • e856ffc91e Removed unnecessary time.sleep in the streaming server on the learner side Michel Aractingi 2025-01-29 16:31:38 +00:00
  • 9aabe212ea Added missing config files env/maniskill_example.yaml and policy/sac_maniskill.yaml that are necessary to run the lerobot implementation of sac with the maniskill baselines. Michel Aractingi 2025-01-29 16:07:32 +00:00
  • 42618f4bd6 - Added additional logging information in wandb around the timings of the policy loop and optimization loop. - Optimized critic design that improves the performance of the learner loop by a factor of 2 - Cleaned the code and fixed style issues Michel Aractingi 2025-01-29 15:50:46 +00:00
  • 36576c958f FREEDOM, added back the optimization loop code in learner_server.py Ran experiment with pushcube env from maniskill. The learning seem to work. Michel Aractingi 2025-01-28 17:25:49 +00:00
  • 322a78a378 Added server directory in lerobot/scripts that contains scripts and the protobuf message types to split training into two processes, acting and learning. The actor rollouts the policy and collects interaction data while the learner recieves the data, trains the policy and sends the updated parameters to the actor. The two scripts are ran simultaneously Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Michel Aractingi 2025-01-28 15:52:03 +00:00
  • d75b44f89f Stable version of rlpd + drq AdilZouitine 2025-01-22 09:00:16 +00:00
  • 1fb03d4cf2 Add type annotations and restructure SACConfig class fields AdilZouitine 2025-01-21 09:51:12 +00:00
  • 7d2970fdfe Change SAC policy implementation with configuration and modeling classes Adil Zouitine 2025-01-17 09:39:04 +01:00
  • 8105efb338 Add rlpd tricks Adil Zouitine 2025-01-15 15:49:24 +01:00
  • c1d4bf4b63 SAC works Adil Zouitine 2025-01-14 11:34:52 +01:00
  • 86df8a433d remove breakpoint Adil Zouitine 2025-01-13 17:58:00 +01:00
  • 956c547254 [WIP] correct sac implementation Adil Zouitine 2025-01-13 17:54:11 +01:00
  • be965019bd Add rlpd tricks Adil Zouitine 2025-01-15 15:49:24 +01:00
  • a0a50de8c9 SAC works Adil Zouitine 2025-01-14 11:34:52 +01:00
  • c86dace4c2 remove breakpoint Adil Zouitine 2025-01-13 17:58:00 +01:00
  • 472a7f58ad [WIP] correct sac implementation Adil Zouitine 2025-01-13 17:54:11 +01:00
  • 068efce3f8 Fix for the issue https://github.com/huggingface/lerobot/issues/638 (#639) Pradeep Kadubandi 2025-01-15 01:50:38 -08:00
  • df7310ea40 fixes to SO-100 readme (#600) Philip Fung 2025-01-10 02:30:01 -08:00
  • 100f54ee07 [viz] Fixes & updates to html visualizer (#617) Mishig 2025-01-09 11:39:54 +01:00
  • c2f7af3339 typo fix: batch_convert_dataset_v1_to_v2.py (#615) CharlesCNorton 2025-01-09 03:57:45 -05:00
  • a1b5d0faf2 fix(visualise): use correct language description for each episode id (#604) Ville Kuosmanen 2025-01-09 08:39:48 +00:00
  • d6498150bf fix(docs): typos in benchmark readme.md (#614) CharlesCNorton 2025-01-09 03:35:27 -05:00
  • 31c34a4a49 Fix Quality workflow (#622) Simon Alibert 2025-01-08 13:35:11 +01:00
  • b1cfb6a710 Update README.md (#612) CharlesCNorton 2025-01-03 10:19:37 -05:00
  • 4a43c83522 Fix broken create_lerobot_dataset_card (#590) Eugene Mironov 2024-12-23 21:05:59 +07:00
  • 0a4e9e25d0 [vizualizer] for LeRobodDataset V2 (#576) Mishig 2024-12-20 16:26:23 +01:00
  • 43e079f73e Fix nightly tests docker images (#675) Simon Alibert 2025-02-02 13:59:33 +01:00
  • 6674e36824 Fix Docker cpu/gpu builds (#667) Simon Alibert 2025-02-01 12:06:11 +01:00
  • ae9605f03c fix setting motor id with new dataclass config (#668) Pepijn 2025-01-31 20:48:46 +01:00
  • 3c0a209f9f Simplify configs (#550) Simon Alibert 2025-01-31 13:57:37 +01:00
  • 514ce5d0b1 improve test method Pepijn 2025-01-31 09:26:42 +01:00
  • 1ee1acf8ad Comply with torchvision 0.21 custom transforms (#665) Simon Alibert 2025-01-30 22:06:11 +01:00
  • b7a343e797 add multi turn support Pepijn 2025-01-30 19:59:26 +01:00
  • 1d121e3321 update configure Pepijn 2025-01-30 19:22:21 +01:00
  • 3ef54ab019 remove cache files Pepijn 2025-01-30 13:58:44 +01:00
  • f540eb81ff fix write issue Pepijn 2025-01-30 13:32:07 +01:00
  • 0ffe2520f4 change manual motor calib Pepijn 2025-01-30 13:01:00 +01:00
  • c4d912a241 Check for "/" in feature names (#660) Thomas Lips 2025-01-29 21:54:49 +01:00
  • fa8ed524fa add first setup new calibration Pepijn 2025-01-29 16:45:47 +01:00
  • 5eefafa958 test formatting github Pepijn 2025-01-28 16:44:56 +01:00
  • 4323bdce22 updating config instructions for koch 1v1 motors (#658) Morgan Redfield 2025-01-28 07:20:33 -05:00
  • 5daa45436d Fix typos in lerobot/scripts/visualize_dataset.py (#656) HUANG TZU-CHUN 2025-01-28 20:07:10 +08:00
  • 43f61136b0 Add aloha_hdf5.py user/rcadene/2025_01_28_aloha_hdf5 Remi Cadene 2025-01-28 11:30:23 +01:00
  • 0193294898 add table of contents Pepijn 2025-01-28 09:41:36 +01:00
  • 3d6f245aa7 add test Pepijn 2025-01-27 16:25:46 +01:00
  • 409601474f test emoji Pepijn 2025-01-27 16:24:41 +01:00
  • 3766627d5c remove print user/pepijn/2025_01_24_save_autocorrect_calibration_to_json Pepijn 2025-01-27 10:10:25 +01:00
  • e6305ff5fd Store homing after autocorrect calib Pepijn 2025-01-24 17:13:31 +01:00
  • 4def6d6ac2 Fix cluster image (#653) Simon Alibert 2025-01-24 11:25:22 +01:00
  • daa1480a91 nit user/michel-aractingi/2025-01-21-server-client-arch Michel Aractingi 2025-01-22 09:45:05 +01:00
  • 71ec721e48 cleaned eval_on_robot.py; readded policy; fixed doc strings Michel Aractingi 2025-01-22 01:15:45 +01:00
  • bbb5ba0adf Extend reward classifier for multiple camera views (#626) Michel Aractingi 2025-01-13 13:57:49 +01:00
  • 844bfcf484 [Port HIL_SERL] Final fixes for the Reward Classifier (#598) Eugene Mironov 2025-01-06 17:34:00 +07:00
  • 13441f0d98 added temporary fix for missing task_index key in online environment Michel Aractingi 2024-12-30 13:47:28 +00:00
  • 41b377211c split encoder for critic and actor Michel Aractingi 2024-12-29 23:59:39 +00:00
  • 9ceb68ee90 Refine SAC configuration and policy for enhanced performance KeWang1017 2024-12-28 22:11:34 +00:00
  • d1baa5a82f trying to get sac running KeWang1017 2024-12-26 23:38:46 +00:00
  • 04da4dd3e3 Added normalization schemes and style checks Michel Aractingi 2024-12-29 12:51:21 +00:00
  • b0e2fcdba7 added optimizer and sac to factory.py Michel Aractingi 2024-12-23 14:12:03 +01:00
  • 1e2a757cd3 [Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) Eugene Mironov 2024-12-23 16:43:55 +07:00
  • ab842ba6ae nit in control_robot.py Michel Aractingi 2024-12-11 00:30:33 +01:00
  • 94a7221a94 Update lerobot/scripts/train_hilserl_classifier.py Michel Aractingi 2024-12-11 00:22:10 +01:00
  • 00dadcace0 LerobotDataset pushable to HF from any folder (#563) Claudio Coppola 2024-12-09 10:32:25 +00:00
  • 81a2f2958d Update 7_get_started_with_real_robot.md (#559) berjaoui 2024-12-09 00:17:49 +01:00
  • 68b4fb60ad Control simulated robot with real leader (#514) Michel Aractingi 2024-12-03 12:20:05 +01:00