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* 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> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> * 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> Co-authored-by: Steven Palma <steven.palma@huggingface.co> * 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) 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> * Add SmolVLA (#1175) 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> * Fix SmolVLA loss not sent to wandb (#1198) * 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> * 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) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * [pre-commit.ci] pre-commit autoupdate (#1185) 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> * Proposal for fix for enter_pressed on Windows (#1230) 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> * fix: update pi0 dependency version constraint (#1247) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Match motor names with ids lekiwi (#1261) * 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> * 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) 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> * 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> * 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) 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> * 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 for more information, see https://pre-commit.ci * 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? --------- Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com> 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: Adil Zouitine <adilzouitinegm@gmail.com> Co-authored-by: imstevenpmwork <steven.palma@huggingface.co> Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com> Co-authored-by: Mishig Davaadorj <dmishig@gmail.com> Co-authored-by: omahs <73983677+omahs@users.noreply.github.com> Co-authored-by: CharlesCNorton <135471798+CharlesCNorton@users.noreply.github.com> Co-authored-by: masato-ka <jp6uzv@gmail.com> Co-authored-by: Ragnar <rodiondenmark@gmail.com> Co-authored-by: mshukor <mustafa.shukor97@gmail.com> Co-authored-by: Simon Alibert <simon.alibert@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> Co-authored-by: Ben Zhang <5977478+ben-z@users.noreply.github.com> Co-authored-by: Pepijn <pepijn@huggingface.co> Co-authored-by: Dhruva <51377003+utterwqlnut@users.noreply.github.com> Co-authored-by: Daisuke Sato <tiryoh@gmail.com> Co-authored-by: Sarunas Kalade <sarunas.kalade@amd.com> Co-authored-by: koenvanwijk <koenvanwijk@users.noreply.github.com> Co-authored-by: Yushun Xiang <73413365+YushunXiang@users.noreply.github.com> Co-authored-by: danaaubakirova <d.aubakirova@alumni.edu.kz> Co-authored-by: Quentin Gallouédec <45557362+qgallouedec@users.noreply.github.com> 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: Michel Aractingi <michel.aractingi@gmail.com> Co-authored-by: tidely <43219534+tidely@users.noreply.github.com> Co-authored-by: David <17435126+DavidLMS@users.noreply.github.com>