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e0096feb6ac4b67b13b94e58dc3d9c5d41b55f4a
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33 Commits

Author SHA1 Message Date
HUANG TZU-CHUN
e0096feb6a fix(docs): Update links in il_robots.mdx and il_sim.mdx to use absolute URLs (#1313) 
* Update links to use absolute URLs. 

* Update dataset upload example link to use HF_USER variable and match the correct syntax.
 2025-08-05 12:33:55 +02:00
Simon Alibert
2f8d98b05e Update readme (#1570) 
* Cleanup badges

* Remove comment

* Remove profiling section

* Move acknowledgment

* Move citations

* Fix badge display

* Move build your robot section

* Fix nightly badge

* Revert be13b3f

* Update README.md

Co-authored-by: HUANG TZU-CHUN <tzu.chun.huang.tw@gmail.com>
Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* chore(docs): optimize readme for PyPI rendering

* chore(docs): move policy readme to docs folder + symlink in policy dirs

* fix(docs): max width og lerobot logo + url in citation block

---------

Signed-off-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: HUANG TZU-CHUN <tzu.chun.huang.tw@gmail.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
 2025-08-01 17:39:39 +02:00
Francesco Capuano
945e1ff266 fix colab typo (#1629) 
Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
 2025-07-31 11:08:12 +02:00
Caroline Pascal
664e069c3f docs/style: updating docs and deprecated links (#1584) 2025-07-28 12:55:47 +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
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
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
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
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
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
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
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
Steven Palma
2b71789e15 docs: fix imitation learning robots docs command (#1308) 2025-06-15 11:47:48 +02:00
David
1688fa3a88 (chore): incorrect resume parameter in recording documentation (#1301) 2025-06-14 23:38:10 +02:00
Steven Palma
8d7969e7cb fix(record): no teleop arg in reset environment (#1294) 2025-06-14 14:23:07 +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>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 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
Dana Aubakirova
58afa2fbb0 fix(docs): SmolVLA fine-tuning getting started (#1201) 
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: danaaubakirova <d.aubakirova@alumni.edu.kz>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Francesco Capuano <francesco_capuano@aol.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
 2025-06-13 14:17:59 +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
Steven Palma
f976935ba1 fix(record): no teleop needed when running with policy (#1284) 2025-06-13 12:41:30 +02:00
Steven Palma
2de93a8000 fix(docs): update realsense documentation (#1268) 2025-06-11 23:16:37 +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
Pepijn
8e2a394442 Add editable -e for feetech install command (#1133) 2025-05-20 18:51:21 +02:00
Pepijn
4485cc0b5b docs: minor corrections and clean-up (#1089) 2025-05-09 11:00:25 +02:00
omahs
8cfab38824 Fix typos (#1070) 2025-05-05 10:35:32 +02:00
Pepijn
ee5525fea1 Docs: adapt text + fix video code (#1064) 2025-05-02 16:10:13 +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