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Author SHA1 Message Date
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

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* (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

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

* 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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 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
Michel Aractingi
596e9050bd Refactor kinematics and switch to using placo (#1322) 
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: leo-berte <leonardo.bertelli96@gmail.com>
 2025-07-02 15:20:04 +02:00
Gregor Lenz
6047bbee10 Update pyproject.toml to make package installable with pip (#1430) 
Signed-off-by: Gregor Lenz <gregor@paddington-robotics.com>
 2025-07-02 12:40:35 +02:00
Pepijn
1522e60f83 feat: Add fixes and refactor lekiwi example (#1396) 
* feat: Add fixes and refactor lekiwi example

* fix: replace repo_id with placeholders

* feat: use record_loop for lekiwi, use same control strucutre as record.py

* feat: make rerun log more general for lekiwi

* fix: add comments record_loop and fix params evaluate.py

* fix: add events in evaluate.py

* fix: add events 2

* change record to display data

* Integrate feedback steven

* Add docs merging

* fix: add lekiwi name check

* fix: integrate feedback steven

* fix: list for type

* fix: check type list

* remove second robot connect

* fix: added file when merging

* fix(record): account for edge cases when teleop is a list

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>
 2025-07-02 11:41:20 +02:00
Simon Alibert
d4ee470b00 Package folder structure (#1417) 
* Move files

* Replace imports & paths

* Update relative paths

* Update doc symlinks

* Update instructions paths

* Fix imports

* Update grpc files

* Update more instructions

* Downgrade grpc-tools

* Update manifest

* Update more paths

* Update config paths

* Update CI paths

* Update bandit exclusions

* Remove walkthrough section
 2025-07-01 16:34:46 +02:00
Simon Alibert
483be9aac2 Add smolvla extra nightly (#1408) 2025-06-30 12:52:48 +02:00
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>
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* 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>
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* 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)

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* Add SmolVLA (#1175)

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* Fix SmolVLA loss not sent to wandb (#1198)

* Hardware API redesign (#777)

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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)

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* [pre-commit.ci] pre-commit autoupdate (#1185)

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* Proposal for fix for enter_pressed on Windows (#1230)

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* fix: update pi0 dependency version constraint (#1247)

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* Match motor names with ids lekiwi (#1261)

* fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (#1256)

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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)

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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)

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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

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* 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?

---------

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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
Jim Burtoft
fe88c5942c There can be only one!! (#1343) 
pkg-config appears twice in the package list.

Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
 2025-06-25 14:43:14 +02:00
pranavsaroha
a5727e37b4 Fix teleop disconnect during eval (#1364) 2025-06-23 16:49:14 +02:00
Steven Palma
c940676bdd fix(benchmarks): remove .numpy() from frame in benchmark script (#1354) 2025-06-19 17:07:13 +02:00
Steven Palma
2b71789e15 docs: fix imitation learning robots docs command (#1308) 2025-06-15 11:47:48 +02:00
Francesco Capuano
7c8be7fb9b bump pi0 and hil transformers version (#1298) 2025-06-15 08:57:08 +02:00
koenvanwijk
b8637c09ec Update lekiwi.mdx (#1229) 2025-06-14 23:41:45 +02:00
David
1688fa3a88 (chore): incorrect resume parameter in recording documentation (#1301) 2025-06-14 23:38:10 +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
Simon Alibert
35e67585bf Fixes on robot integration tutorial (#1290) 2025-06-14 01:47:22 +02:00
Pepijn
438334d58e 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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 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
Adil Zouitine
8fc18be065 chore(dependencies): add gamepad support with pygame and hidapi (#1287) 2025-06-13 17:07:11 +02:00
Steven Palma
5350a02dc1 chore(teleop): print calibration path saved (#1286) 2025-06-13 15:29:10 +02:00
Dana Aubakirova
58afa2fbb0 fix(docs): SmolVLA fine-tuning getting started (#1201) 
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 2025-06-13 14:17:59 +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) 
Co-authored-by: danaaubakirova <d.aubakirova@alumni.edu.kz>
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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