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67 Commits

Author SHA1 Message Date
Remi
26f97cfd17 Enable CI for robot devices with mocked versions (#398) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-03 17:05:23 +02:00
Simon Alibert
c712d68f6a Fix nightlies (#443) 2024-09-18 14:51:45 +02:00
Remi
9c9f5cac90 Add IntelRealSenseCamera (#410) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: shantanuparab-tr <shantanu@trossenrobotics.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-05 23:59:41 +02:00
Remi
429a463aff Control aloha robot natively (#316) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-04 19:28:05 +02:00
Remi
bbe9057225 Improve control robot ; Add process to configure motor indices (#326) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-08-15 18:11:33 +02:00
Remi
2252b42337 Add visualize_dataset_html with http.server (#188) 2024-08-08 20:19:06 +03:00
Simon Alibert
0b21210d72 Convert datasets to av1 encoding (#302) 2024-07-22 20:08:59 +02:00
Simon Alibert
ee200e86cb Ensure no upper bound constraints on dependencies (#327) 2024-07-18 12:07:15 +02:00
Remi
5e54e39795 Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00
Simon Alibert
e410e5d711 Improve video benchmark (#282) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 20:20:25 +02:00
Alexander Soare
a4d77b99f0 Include observation.environment_state with keypoints in PushT dataset (#303) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-07-09 08:27:40 +01:00
Simon Alibert
2abef3bef9 Enable video_reader backend (#220) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 17:15:25 +02:00
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
e3b9f1c19b Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Simon Alibert
35c1ce7a66 Fix install issues (#191) 2024-05-23 14:25:18 +02:00
Remi
01eae09ba6 Fix aloha real-world datasets (#175) 2024-05-20 13:48:09 +02:00
Akshay Kashyap
c9069df9f1 Port SpatialSoftmax and remove Robomimic dependency (#182) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-16 15:34:10 +01:00
Simon Alibert
89c6be84ca Limit datasets major update (#176) 
Co-authored-by: Quentin Lhoest <42851186+lhoestq@users.noreply.github.com>
Co-authored-by: Quentin Lhoest <lhoest.q@gmail.com>
 2024-05-12 08:15:07 +02:00
Simon Alibert
7bb5b15f4c Remove dependencies upper bounds constraints (#145) 2024-05-08 17:23:10 +00:00
Simon Alibert
eb6bfe01b2 Relax version contraints & poetry lock (#139) 2024-05-06 17:38:29 +02:00
Simon Alibert
f5e76393eb Release cleanup (#132) 
Co-authored-by: Kashif Rasul <kashif.rasul@gmail.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Cadene <re.cadene@gmail.com>
 2024-05-06 03:03:14 +02:00
Remi
19812ca470 Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Simon Alibert
b7b69fcc3d Publish environments (#120) 2024-05-03 16:25:45 +02:00
Remi
b2cda12f87 Add video decoding to LeRobotDataset (#92) 2024-05-03 00:50:19 +02:00
Simon Alibert
791506dfb8 Remove warnings (#111) 
- Replace `use_pretrained_backbone` with `pretrained_backbone_weights`
- Bump diffusers' minimum version `0.26.3` -> `0.27.2`
- Add ignore flags in CI's pytest
- Change Box observation spaces in simulation environments
- Set `version_base="1.2"` in Hydra initializations
- Bump einops' minimum version `0.7.0` -> `0.8.0`
 2024-04-29 00:31:33 +02:00
Adil Zouitine
55dc9f7f51 Refactor the download and publication of the datasets and convert it into CLI script (#95) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-29 00:08:17 +02:00
Adil Zouitine
81e490d46f Add UMI-gripper dataset (#83) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-04-28 18:41:07 +02:00
Simon Alibert
a4b6c5e3b1 Add torchaudio (#110) 2024-04-27 14:00:38 +02:00
Simon Alibert
fdf6a0c4e3 More CI cleanup, add style workflow (#107) 
- Changes on the `test.yml` workflow:
  - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`.
  - Reduce the trigger scope to only run when files in these directories are modified:
    - `lerobot/`
    - `tests/`
    - `examples/`
    - `.github/`
- Add `style.yml` workflow for doing a `ruff check` pass on the code
- More cleanup (removed deprecated workflow)
 2024-04-27 09:37:56 +02:00
Remi
1030ea0070 Loads episode_data_index and stats during dataset __init__ (#85) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-23 14:13:25 +02:00
Cadene
c6aca7fe44 For Pusht: use hf datasets to train, rename load_data_with_delta_timestamps -> load_previous_and_future_frames 2024-04-16 17:19:06 +00:00
Simon Alibert
70e8de95f7 Clean & update pyproject 2024-04-16 12:09:56 +02:00
Alexander Soare
575891e8ac Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 15:19:29 +01:00
Simon Alibert
dfaacbcf5a Split dev/test dependencies 2024-04-09 10:40:11 +02:00
Simon Alibert
2573e89e1d Remove direct dependencies 2024-04-09 10:38:08 +02:00
Alexander Soare
e6c6c2367f Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-09 08:36:28 +01:00
Cadene
19e7661b8d Remove torchrl/tensordict from dependecies + update poetry cpu 2024-04-09 03:50:49 +00:00
Alexander Soare
50e4c8050c Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act 2024-04-08 17:13:11 +01:00
Simon Alibert
3f6dfa4916 Add gym-aloha, rename simxarm -> xarm, refactor 2024-04-08 16:24:11 +02:00
Alexander Soare
e982c732f1 Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-08 09:25:45 +01:00
Alexander Soare
ab2286025b Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 18:06:00 +01:00
Alexander Soare
1e71196fe3 backup wip 2024-04-05 17:38:29 +01:00
Simon Alibert
ab3cd3a7ba (WIP) Add gym-xarm 2024-04-05 15:35:20 +02:00
Alexander Soare
9d77f5773d Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl 2024-04-05 11:41:11 +01:00
Cadene
1cdfbc8b52 WIP 
WIP

WIP train.py works, loss going down

WIP eval.py

Fix

WIP (eval running, TODO: verify results reproduced)

Eval works! (testing reproducibility)

WIP

pretrained model pusht reproduces same results as torchrl

pretrained model pusht reproduces same results as torchrl

Remove AbstractPolicy, Move all queues in select_action

WIP test_datasets passed (TODO: re-enable NormalizeTransform)
 2024-04-04 15:31:03 +00:00
Alexander Soare
278336a39a backup wip 2024-04-03 19:23:22 +01:00
Alexander Soare
2b928eedd4 backup wip 2024-04-02 19:11:53 +01:00
Simon Alibert
58df2066a9 Add pytest-cov 2024-03-28 10:35:11 +01:00
Simon Alibert
643d64e2a8 Add cmake 2024-03-27 16:33:26 +01:00
Simon Alibert
0fae5b206b Allow mujoco minor revision updates 2024-03-25 17:25:55 +01:00