tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity
918 Commits 153 Branches 0 Tags
91ed6097bc0b9e86668c1cfd4dbd1cc05348d2cf
Commit Graph

122 Commits

Author SHA1 Message Date
Caroline Pascal
c14ab9e97b fix(dependencies): removing versions ceilings on tokenizers and huggingface_hub dependencies (#1618) 2025-07-29 10:59:23 +02:00
Caroline Pascal
b267cd40f7 fix(tokenizers dependency): adding ceiling version on tokenizers (#1612) 2025-07-28 17:05:44 +02:00
Michel Aractingi
98746c7cf9 bump wandb version to be compatible with ne grpcio-deps (#1604) 2025-07-28 11:45:30 +02:00
Caroline Pascal
f089ab3628 fix(hf hub dependency): adding ceiling version on huggingface_hub (#1608) 2025-07-28 11:09:18 +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
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

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

* 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
Daniel Ritchie
f59baeab45 bump version for breaking changes in 1417 (#1515) 2025-07-21 17:16:50 +02:00
Steven Palma
38d3737f09 feat(ci): add new & clean dockerfiles (#1525) 2025-07-17 18:07:07 +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
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
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
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

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

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

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

* 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

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

* Move readme to docs

* update readme

Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>

* Add files via upload

Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>

* 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

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

* Address code review

* add EMA to glove

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

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

* integrate teleoperation for hand

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

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

* update docs

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

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

* import hopejr/homunculus in teleoperate

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

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

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>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: nepyope <nopyeps@gmail.com>
Co-authored-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
 2025-07-08 15:47:11 +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
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
Francesco Capuano
7c8be7fb9b bump pi0 and hil transformers version (#1298) 2025-06-15 08:57:08 +02:00
Adil Zouitine
8fc18be065 chore(dependencies): add gamepad support with pygame and hidapi (#1287) 2025-06-13 17:07:11 +02:00
Adil Zouitine
d8079587a2 Port HIL SERL (#644) 
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Ke Wang <superwk1017@gmail.com>
Co-authored-by: Yoel Chornton <yoel.chornton@gmail.com>
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
 2025-06-13 13:15:47 +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>
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>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
 2025-06-11 16:56:55 +02:00
Caroline Pascal
1ee2ca5c26 fix(pyserial): adding pyserial dependency to global ones (#1219) 2025-06-06 14:38:33 +02:00
Simon Alibert
4e4eec92dc Fix smolVLA dependencies (#1218) 2025-06-06 11:28:47 +02:00
Steven Palma
09343acce7 fix(smolvla): update record.py, fix populate_queues and remove unused dependencies (#1208) 2025-06-06 09:17:02 +02:00
Simon Alibert
e23b41e79a Hardware API redesign (#777) 
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
 2025-06-05 17:48:43 +02:00
mshukor
bfd26eef5a Add SmolVLA (#1175)
Some checks failed
Secret Leaks / trufflehog (push) Has been cancelled
Details 
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
Adil Zouitine
2be7f3a3ff (hotfix): nightly CI by clipping pymunk version below 7.0.0 (#1182) 2025-06-02 13:18:02 +02:00
Adil Zouitine
0cf864870c [Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 (#1127) 2025-05-28 16:54:20 +02:00
Pepijn
a1daeaf0c4 feat(docs): Add new docs build process (#1046) 
Co-authored-by: Mishig Davaadorj <dmishig@gmail.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
 2025-05-02 12:47:23 +02:00
Caroline Pascal
6d723c45a9 feat(encoding): switching to PyAV for ffmpeg related tasks (#983) 2025-04-29 17:39:35 +02:00
Adil Zouitine
a75d00970f fix(ci): Pin torchcodec (==0.2.1) to fix pipeline temporarly (#1030) 2025-04-24 12:16:02 +02:00
Adil Zouitine
4df18de636 fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (#1022) 
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-04-24 09:42:03 +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
Steven Palma
145fe4cd17 fix(deps): avoid torchcodec in macos x86_64 (#925) 2025-04-01 15:51:59 +02:00
Steven Palma
725b446ad6 fix(deps): constrain PyAV version to resolve OpenCV-python ffmpeg version conflict (#883) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-24 23:40:22 +01:00
Steven Palma
712d5dae4f fix(os): fix default codec for windows (#875) 2025-03-18 22:04:21 +01:00
Steven Palma
1c15bab70f fix(codec): hot-fix for default codec in linux arm platforms (#868) 2025-03-17 13:23:11 +01:00
Jade Choghari
0e98c6ee96 Add torchcodec cpu (#798) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-14 16:53:42 +01:00
Simon Alibert
974028bd28 Organize test folders (#856) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-13 14:05:55 +01:00
Steven Palma
8a64d8268b chore(deps): remove hydra dependency (#842) 2025-03-10 19:00:23 +01:00
Steven Palma
5d24ce3160 chore(doc): add license header to all files (#818) 2025-03-05 17:56:51 +01:00
Simon Alibert
8861546ad8 [Security] Add Bandit (#795) 2025-03-01 19:19:26 +01:00
Simon Alibert
ed83cbd4f2 Switch pyav -> av (#780) 2025-02-28 11:06:55 +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
Pepijn
aca464ca72 Add mobile so100 (#724) 2025-02-25 09:06:50 +01:00
Simon Alibert
ddeade077e Conform pyproject to PEP 621 (#621) 2025-02-16 14:28:03 +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
Simon Alibert
1ee1acf8ad Comply with torchvision 0.21 custom transforms (#665) 2025-01-30 22:06:11 +01:00