Fixes on robot integration tutorial #1290
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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 <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (#1030) * Update tutorial (#1021) Co-authored-by: Simon Alibert <[email protected]> * 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 <[email protected]> Co-authored-by: Steven Palma <[email protected]> * 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 <[email protected]> * Update 12_use_so101.md (#1081) Co-authored-by: Pepijn <[email protected]> * 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 <[email protected]> * Add SmolVLA (#1175) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: fracapuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> * Fix SmolVLA loss not sent to wandb (#1198) * Hardware API redesign (#777) Co-authored-by: Pepijn <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: Pepijn <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * 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 <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): SmolVLA fine-tuning getting started (#1201) Co-authored-by: Pepijn <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> * 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 <[email protected]> * 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 <[email protected]> Signed-off-by: Francesco Capuano <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Caroline Pascal <[email protected]> Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: omahs <[email protected]> Co-authored-by: CharlesCNorton <[email protected]> Co-authored-by: masato-ka <[email protected]> Co-authored-by: Ragnar <[email protected]> Co-authored-by: mshukor <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: Ben Zhang <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Dhruva <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Sarunas Kalade <[email protected]> Co-authored-by: koenvanwijk <[email protected]> Co-authored-by: Yushun Xiang <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Quentin Gallouédec <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: tidely <[email protected]> Co-authored-by: David <[email protected]>
fracapuano
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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 <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (#1030) * Update tutorial (#1021) Co-authored-by: Simon Alibert <[email protected]> * 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 <[email protected]> Co-authored-by: Steven Palma <[email protected]> * 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 <[email protected]> * Update 12_use_so101.md (#1081) Co-authored-by: Pepijn <[email protected]> * 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 <[email protected]> * Add SmolVLA (#1175) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: fracapuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> * Fix SmolVLA loss not sent to wandb (#1198) * Hardware API redesign (#777) Co-authored-by: Pepijn <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: Pepijn <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * 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 <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): SmolVLA fine-tuning getting started (#1201) Co-authored-by: Pepijn <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> * 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 <[email protected]> * 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 <[email protected]> Signed-off-by: Francesco Capuano <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Caroline Pascal <[email protected]> Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: omahs <[email protected]> Co-authored-by: CharlesCNorton <[email protected]> Co-authored-by: masato-ka <[email protected]> Co-authored-by: Ragnar <[email protected]> Co-authored-by: mshukor <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: Ben Zhang <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Dhruva <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Sarunas Kalade <[email protected]> Co-authored-by: koenvanwijk <[email protected]> Co-authored-by: Yushun Xiang <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Quentin Gallouédec <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: tidely <[email protected]> Co-authored-by: David <[email protected]>
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* Comply with torchvision 0.21 custom transforms (huggingface#665) * Simplify configs (huggingface#550) Co-authored-by: Remi <[email protected]> Co-authored-by: HUANG TZU-CHUN <[email protected]> * fix setting motor id with new dataclass config (huggingface#668) * Fix Docker cpu/gpu builds (huggingface#667) * Fix nightly tests docker images (huggingface#675) * User/pepijn/2025 01 31 improved tutorial so100 (huggingface#666) * Add Pi0 (huggingface#681) Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Pablo <[email protected]> * Remove dataset tests artifacts (huggingface#701) * Update CI trigger rules (huggingface#712) * Remove offline training, refactor `train.py` and logging/checkpointing (huggingface#670) Co-authored-by: Remi <[email protected]> * Fixes following huggingface#670 (huggingface#719) * Prevent resuming from hub (huggingface#726) * Fixed eval.py on MPS (huggingface#702) * Fix wandb logging (huggingface#730) * Add zizmor pre-commit (huggingface#732) * Update pre-commits (huggingface#733) * Conform pyproject to PEP 621 (huggingface#621) * Remove `poetry.lock` (huggingface#737) Co-authored-by: Remi <[email protected]> * Add mobile so100 (huggingface#724) * LeRobotDataset v2.1 (huggingface#711) Co-authored-by: Remi <[email protected]> Co-authored-by: Remi Cadene <[email protected]> * feat: Add root directory option for dataset configuration (huggingface#765) Co-authored-by: Simon Alibert <[email protected]> * Fix the URL to setup hardware Aloha Stationary in the example document (huggingface#766) * Optimizing Dockerfile (huggingface#751) * fixes in 7_get_started_with_real_robot.md (huggingface#677) * [QOL] Enable teleoperation during environment reset (huggingface#725) * Add typos checks (huggingface#770) * Add pr style bot (huggingface#772) * Fix nightly (huggingface#775) * [vizualisation] Add pagination for many episodes (huggingface#776) * Fix pr_style_bot (huggingface#781) * Fix pr_style bot (huggingface#782) * [Vizualisation] independent column names (huggingface#783) * Fix pr_style_bot (huggingface#786) * Break style to test style bot (huggingface#785) * Revert "Fix pr_style_bot" (huggingface#787) * Switch `pyav` -> `av` (huggingface#780) * Fix dataset version tags (huggingface#790) * [CI] Update Stylebot Permissions (huggingface#792) * [Security] Add Bandit (huggingface#795) * fix(examples): Add Tensor type check (huggingface#799) * Add step assembly tutorial (huggingface#800) * refactor(test): remove duplicated code in conftest.py (huggingface#804) * [visualization] Ignore 2d or 3d data for now (huggingface#809) * change wheel setup in kinematics (huggingface#811) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Add kiwi to readme (huggingface#803) * Add wired instructions for LeKiwi (huggingface#814) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * change "actions_id_pad" to "actions_is_pad"(🐛 Bug) (huggingface#774) Co-authored-by: Steven Palma <[email protected]> * Fix printout in make_cameras_from_configs (huggingface#796) Signed-off-by: Yadunund <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Fix doc (huggingface#793) Co-authored-by: Steven Palma <[email protected]> * docs: update installation instructions to use uv instead of conda (huggingface#731) Co-authored-by: Steven Palma <[email protected]> * chore(doc): add license header to all files (huggingface#818) * Revert "docs: update installation instructions to use uv instead of conda" (huggingface#827) * chore(doc): add star history graph to the README.md (huggingface#815) * Support for discrete actions (huggingface#810) * refactor(config): Move device & amp args to PreTrainedConfig (huggingface#812) Co-authored-by: Simon Alibert <[email protected]> * 🐛 Remove `map_location=device` that no longer exists when loading DiffusionPolicy from_pretained after commit 5e94738 (huggingface#830) Co-authored-by: Mathias Wulfman <[email protected]> * Fix gpu nightly (huggingface#829) * Remove pr_style_bot (huggingface#832) * Fix delay in teleoperation start time (huggingface#676) Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix: deactivate tdmpc backward compatibility test with use_mpc=True (huggingface#838) * feat: add support for external plugin config dataclasses (huggingface#807) Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * Fix camera rotation error (huggingface#839) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore(deps): remove hydra dependency (huggingface#842) * chore(docs): update instructions for change in device and use_amp (huggingface#843) * [pre-commit.ci] pre-commit autoupdate (huggingface#844) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * parametrise tolerance_s in visualize_dataset scripts (huggingface#716) * Improve pre-commit config (huggingface#857) * Organize test folders (huggingface#856) Co-authored-by: Steven Palma <[email protected]> * Add torchcodec cpu (huggingface#798) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Remi <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * Update 10_use_so100.md (huggingface#840) * added wandb.run_id to allow resuming without wandb log; updated log m… (huggingface#841) Co-authored-by: Simon Alibert <[email protected]> * Update test-docker-build.yml * fix(codec): hot-fix for default codec in linux arm platforms (huggingface#868) * User/pepijn/2025 03 17 act different image shapes (huggingface#870) * Use float32 instead of int (huggingface#877) * fix(os): fix default codec for windows (huggingface#875) * add docs details for resolving firmware update issues (huggingface#627) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * chore(scripts): remove deprecated script (huggingface#887) * fix(deps): constrain PyAV version to resolve OpenCV-python ffmpeg version conflict (huggingface#883) Co-authored-by: Simon Alibert <[email protected]> * fix pi0 action padding name (huggingface#893) Co-authored-by: Steven Palma <[email protected]> * Add offline mode in the configuration for wandb logging (huggingface#897) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> * fix(docs): hot-fix updating installation instructions after huggingface#883 (huggingface#907) * chore(docs): update docs (huggingface#911) * fix(docs): correct spelling of 'ffmpeg' in installation instructions (huggingface#914) * fix(datasets): cast imgs_dir as Path (huggingface#915) * docs: add tip for Mac users regarding Terminal permissions for keyboard (huggingface#917) Signed-off-by: cranberrysoft <[email protected]> * fix(deps): avoid torchcodec in macos x86_64 (huggingface#925) * Support for PI0+FAST (huggingface#921) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: Steven Palma <[email protected]> * typo fix: example_1 python script (huggingface#631) Co-authored-by: Steven Palma <[email protected]> * [pre-commit.ci] pre-commit autoupdate (huggingface#871) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Switch typos pre-commit to mirror (huggingface#953) * feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (huggingface#903) * fix(examples): removes extra backtick (huggingface#948) * fix(installation): adding note on `ffmpeg` version during installation (huggingface#976) Co-authored-by: Simon Alibert <[email protected]> * [pre-commit.ci] pre-commit autoupdate (huggingface#980) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Fix broken links in `examples/4_train_policy_with_script.md` (huggingface#697) * Fix Windows HTML visualization to make videos could be seen (huggingface#647) Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> * Fix --width --height type parsing on opencv and intelrealsense scripts (huggingface#556) Co-authored-by: Remi <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Add pythno3-dev in Dockerfile to build and modify Readme.md , python-dev to python3-dev (huggingface#987) Co-authored-by: makolon <[email protected]> Co-authored-by: Steven Palma <[email protected]> * [pre-commit.ci] pre-commit autoupdate (huggingface#1011) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Revert "[pre-commit.ci] pre-commit autoupdate" (huggingface#1025) * fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (huggingface#1022) Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (huggingface#1030) * Update tutorial (huggingface#1021) Co-authored-by: Simon Alibert <[email protected]> * Add description motor order SO-101 leader (huggingface#1051) * feat(encoding): switching to PyAV for ffmpeg related tasks (huggingface#983) * feat(docs): Add new docs build process (huggingface#1046) Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Docs: adapt text + fix video code (huggingface#1064) * Fix typos (huggingface#1070) * docs: minor corrections and clean-up (huggingface#1089) * Update 10_use_so100.md; use diff syntax (huggingface#944) Co-authored-by: Pepijn <[email protected]> * Update 12_use_so101.md (huggingface#1081) Co-authored-by: Pepijn <[email protected]> * bug fix for huggingface#1071 When --display_data=true, Failed running control_robot. (huggingface#1073) * Add editable -e for feetech install command (huggingface#1133) * Fix: emptying action queue between resets (huggingface#1117) * fix: typos and grammar (huggingface#1148) * Update README.md (huggingface#1160) * Update README.md (huggingface#1163) * [Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 (huggingface#1127) * (hotfix): nightly CI by clipping pymunk version below 7.0.0 (huggingface#1182) * [pre-commit.ci] pre-commit autoupdate (huggingface#1048) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Add SmolVLA (huggingface#1175) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: fracapuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> * Fix SmolVLA loss not sent to wandb (huggingface#1198) * Hardware API redesign (huggingface#777) Co-authored-by: Pepijn <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: Pepijn <[email protected]> * fix(smolvla): update record.py, fix populate_queues and remove unused dependencies (huggingface#1208) * replaced OBS_ROBOT with OBS_STATE constant (huggingface#1211) * Fix test_teleoperate (huggingface#1216) * Fix LeKiwi example (huggingface#1217) * Fix smolVLA dependencies (huggingface#1218) * fix(pyserial): adding pyserial dependency to global ones (huggingface#1219) * Update SmolVLA README.md (huggingface#1228) * Fix unable to set camera width/height to non-default (huggingface#1225) * Update tutorial link (huggingface#1250) * update KochFollower.get_observation() so it returns same observation structure as SO101 (huggingface#1248) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * [pre-commit.ci] pre-commit autoupdate (huggingface#1185) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Proposal for fix for enter_pressed on Windows (huggingface#1230) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * fix: update pi0 dependency version constraint (huggingface#1247) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Match motor names with ids lekiwi (huggingface#1261) * fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (huggingface#1256) Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): update realsense documentation (huggingface#1268) * Use HF Papers (huggingface#1120) * Skip normalization parameters in load_smolvla (huggingface#1274) * fix(record): no teleop needed when running with policy (huggingface#1284) * Port HIL SERL (huggingface#644) Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): SmolVLA fine-tuning getting started (huggingface#1201) Co-authored-by: Pepijn <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> * chore(teleop): print calibration path saved (huggingface#1286) * chore(dependencies): add gamepad support with pygame and hidapi (huggingface#1287) * Robot integration tutorial (huggingface#1285) * fix(docs): update send_feedback docstrings * Add sim tutorial, fix lekiwi motor config, add notebook links (huggingface#1275) Co-authored-by: AdilZouitine <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Fixes on robot integration tutorial (huggingface#1290) * Add keyboard teleop device to control the end effector robot (huggingface#1289) * Improve type hints (huggingface#1293) * fix(record): no teleop arg in reset environment (huggingface#1294) * `learner.py` import so101_leader instead of so100 (huggingface#1295) Co-authored-by: Adil Zouitine <[email protected]> * Fixing `PI0` Policy (huggingface#1297) * `gym_manipulator.py` Remove None value action_intervention of BaseLeaderTeleoperator (huggingface#1299) * (chore): incorrect resume parameter in recording documentation (huggingface#1301) * Update lekiwi.mdx (huggingface#1229) * bump `pi0` and `hil` transformers version (huggingface#1298) * docs: fix imitation learning robots docs command (huggingface#1308) * fix(benchmarks): remove .numpy() from frame in benchmark script (huggingface#1354) * Fix teleop disconnect during eval (huggingface#1364) * There can be only one!! (huggingface#1343) pkg-config appears twice in the package list. Co-authored-by: Caroline Pascal <[email protected]> * update assembly instructions to match outputs from setup motors 'python -m lerobot.setup_motors' script (huggingface#1384) * docs: Fix the SO-100 documentation, the motors configuration step should be before the assembly instructions (huggingface#1315) Co-authored-by: Pepijn <[email protected]> * Feat: Improve hub integration (huggingface#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 <[email protected]> * Add direct access to action chunks (huggingface#1020) * fix: sharing predicted chunk with user * [pre-commit.ci] pre-commit autoupdate (huggingface#1011) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Revert "[pre-commit.ci] pre-commit autoupdate" (huggingface#1025) * fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (huggingface#1022) Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (huggingface#1030) * Update tutorial (huggingface#1021) Co-authored-by: Simon Alibert <[email protected]> * Add description motor order SO-101 leader (huggingface#1051) * feat(encoding): switching to PyAV for ffmpeg related tasks (huggingface#983) * feat(docs): Add new docs build process (huggingface#1046) Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Docs: adapt text + fix video code (huggingface#1064) * Fix typos (huggingface#1070) * docs: minor corrections and clean-up (huggingface#1089) * Update 10_use_so100.md; use diff syntax (huggingface#944) Co-authored-by: Pepijn <[email protected]> * Update 12_use_so101.md (huggingface#1081) Co-authored-by: Pepijn <[email protected]> * bug fix for huggingface#1071 When --display_data=true, Failed running control_robot. (huggingface#1073) * Add editable -e for feetech install command (huggingface#1133) * Fix: emptying action queue between resets (huggingface#1117) * fix: typos and grammar (huggingface#1148) * Update README.md (huggingface#1160) * Update README.md (huggingface#1163) * [Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 (huggingface#1127) * (hotfix): nightly CI by clipping pymunk version below 7.0.0 (huggingface#1182) * [pre-commit.ci] pre-commit autoupdate (huggingface#1048) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Add SmolVLA (huggingface#1175) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: fracapuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> * Fix SmolVLA loss not sent to wandb (huggingface#1198) * Hardware API redesign (huggingface#777) Co-authored-by: Pepijn <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: Pepijn <[email protected]> * fix(smolvla): update record.py, fix populate_queues and remove unused dependencies (huggingface#1208) * replaced OBS_ROBOT with OBS_STATE constant (huggingface#1211) * Fix test_teleoperate (huggingface#1216) * Fix LeKiwi example (huggingface#1217) * Fix smolVLA dependencies (huggingface#1218) * fix(pyserial): adding pyserial dependency to global ones (huggingface#1219) * Update SmolVLA README.md (huggingface#1228) * Fix unable to set camera width/height to non-default (huggingface#1225) * Update tutorial link (huggingface#1250) * update KochFollower.get_observation() so it returns same observation structure as SO101 (huggingface#1248) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * [pre-commit.ci] pre-commit autoupdate (huggingface#1185) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Proposal for fix for enter_pressed on Windows (huggingface#1230) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * fix: update pi0 dependency version constraint (huggingface#1247) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Match motor names with ids lekiwi (huggingface#1261) * fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (huggingface#1256) Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): update realsense documentation (huggingface#1268) * Use HF Papers (huggingface#1120) * Skip normalization parameters in load_smolvla (huggingface#1274) * fix(record): no teleop needed when running with policy (huggingface#1284) * Port HIL SERL (huggingface#644) Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): SmolVLA fine-tuning getting started (huggingface#1201) Co-authored-by: Pepijn <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> * chore(teleop): print calibration path saved (huggingface#1286) * chore(dependencies): add gamepad support with pygame and hidapi (huggingface#1287) * Robot integration tutorial (huggingface#1285) * fix(docs): update send_feedback docstrings * Add sim tutorial, fix lekiwi motor config, add notebook links (huggingface#1275) Co-authored-by: AdilZouitine <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Fixes on robot integration tutorial (huggingface#1290) * Add keyboard teleop device to control the end effector robot (huggingface#1289) * Improve type hints (huggingface#1293) * fix(record): no teleop arg in reset environment (huggingface#1294) * `learner.py` import so101_leader instead of so100 (huggingface#1295) Co-authored-by: Adil Zouitine <[email protected]> * Fixing `PI0` Policy (huggingface#1297) * `gym_manipulator.py` Remove None value action_intervention of BaseLeaderTeleoperator (huggingface#1299) * (chore): incorrect resume parameter in recording documentation (huggingface#1301) * Update lekiwi.mdx (huggingface#1229) * bump `pi0` and `hil` transformers version (huggingface#1298) * docs: fix imitation learning robots docs command (huggingface#1308) * fix(benchmarks): remove .numpy() from frame in benchmark script (huggingface#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 <[email protected]> Signed-off-by: Francesco Capuano <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Caroline Pascal <[email protected]> Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: omahs <[email protected]> Co-authored-by: CharlesCNorton <[email protected]> Co-authored-by: masato-ka <[email protected]> Co-authored-by: Ragnar <[email protected]> Co-authored-by: mshukor <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: Ben Zhang <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Dhruva <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Sarunas Kalade <[email protected]> Co-authored-by: koenvanwijk <[email protected]> Co-authored-by: Yushun Xiang <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Quentin Gallouédec <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: tidely <[email protected]> Co-authored-by: David <[email protected]> * Add api examples IL docs (huggingface#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 <[email protected]> * fix(recording): re-recording episode doesn't increase count of recording episodes (huggingface#1395) * Add smolvla extra nightly (huggingface#1408) * Package folder structure (huggingface#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 * feat: Add fixes and refactor lekiwi example (huggingface#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 <[email protected]> * Update pyproject.toml to make package installable with pip (huggingface#1430) Signed-off-by: Gregor Lenz <[email protected]> * Refactor kinematics and switch to using placo (huggingface#1322) Co-authored-by: Caroline Pascal <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: leo-berte <[email protected]> * Remove references to lerobot.common (huggingface#1432) * Fix indentation (huggingface#1436) * Fixes `@torch.no_grad()` usage (huggingface#1455) * fix: decorator calls with parentheses * fix no grad for normalize too Signed-off-by: Francesco Capuano <[email protected]> --------- Signed-off-by: Francesco Capuano <[email protected]> * Add Hope Jr (huggingface#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 (huggingface#896) Co-authored-by: Simon Alibert <[email protected]> * 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 (huggingface#869) Co-authored-by: Simon Alibert <[email protected]> * 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 (huggingface#863) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(teleoperators): use property is_connected (huggingface#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 huggingface#1117 * refactor(cameras): cameras implementations + tests improvements (huggingface#1108) Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> 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 (huggingface#1154) * fix(scripts): parser instead of draccus in record + add __get_path_fields__() to RecordConfig (huggingface#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 <[email protected]> * Add files via upload Signed-off-by: Martino Russi <[email protected]> * 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 <[email protected]> Signed-off-by: Simon Alibert <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: nepyope <[email protected]> Co-authored-by: Martino Russi <[email protected]> Co-authored-by: Steven Palma <[email protected]> * fix(logging): Fixing logging levels (huggingface#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 * fix(hil-serl): discrete critic send through network (huggingface#1468) Co-authored-by: Khalil Meftah <[email protected]> Co-authored-by: jpizarrom <[email protected]> * Add Async Inference (huggingface#1196) Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> * Update async docs with blogpost (huggingface#1479) Co-authored-by: Michel Aractingi <[email protected]> * fix(docs): Record-Upload failed? Don't panic! (huggingface#1478) * fix: add instruction to manually upload dataset Signed-off-by: Francesco Capuano <[email protected]> * fix: repo type is explicited --------- Signed-off-by: Francesco Capuano <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> * Remove random noise injected by policy server (huggingface#1496) * fix(mps): gradient exploding and nan loss issues with ACT (huggingface#1490) Co-authored-by: Michel Aractingi <[email protected]> * Fix tests (huggingface#1510) * fix(record): Improve OpenCV backend handling for Windows systems (huggingface#1495) * fix(record): Improve OpenCV backend handling for Windows systems * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Resolved ruff's E402 error (import statements not at the beginning of the file): - Moved all import statements to the beginning of the file - Defined _fix_opencv_backend() as a function - Adjusted the timing of the fix call - Code structure conforming to ruff * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix(record): Correct OpenCV backend for Windows systems * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix(opencv): Set OpenCV environment variable for Windows systems * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix(opencv): Refactor MSMF hardware transform environment variable setting for Windows * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * [pre-commit.ci] pre-commit autoupdate (huggingface#1327) * [pre-commit.ci] pre-commit autoupdate updates: - [github.com/adhtruong/mirrors-typos: v1.33.1 → v1.34.0](adhtruong/mirrors-typos@v1.33.1...v1.34.0) - [github.com/astral-sh/ruff-pre-commit: v0.11.13 → v0.12.3](astral-sh/ruff-pre-commit@v0.11.13...v0.12.3) - [github.com/woodruffw/zizmor-pre-commit: v1.9.0 → v1.11.0](zizmorcore/zizmor-pre-commit@v1.9.0...v1.11.0) - [github.com/PyCQA/bandit: 1.8.3 → 1.8.6](PyCQA/bandit@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 <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * Parse draccus subclass overrides when using `--policy.path` (huggingface#1501) * Parse draccus subclass overrides when using --policy.path * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Fix logging for mps in auto_select_torch_device (huggingface#1513) * Added missing licenses (huggingface#1517) * Added missing liscenses * [Async Inference] Add gRPC retry mechanism to Async client (huggingface#1485) Co-authored-by: Michel Aractingi <[email protected]> * Feat/add bimanual so100 robot (huggingface#1509) * Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (huggingface#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 <[email protected]> Signed-off-by: Steven Palma <[email protected]> * chore(deps): add todo --------- Signed-off-by: Steven Palma <[email protected]> Co-authored-by: Ben Zhang <[email protected]> * fix(hil-serl): drain queue on get_last_item_from_queue (huggingface#1524) * fix(hil-serl): drain queue on get_last_item_from_queue * parametrize queue tests * revert changes for Darwin * revert parametrize queue tests * add test_get_last_item_multiple_items_with_torch_queue * update test_get_last_item_multiple_items_with_torch_queue * update test_get_last_item_multiple_items_with_torch_queue * feat(ci): add new & clean dockerfiles (huggingface#1525) * chore(examples): remove outdated examples (huggingface#1526) * Feat: Add Batched Video Encoding for Faster Dataset Recording (huggingface#1390) * LeRobotDataset video encoding: updated `save_episode` method and added `batch_encode_videos` method to handle video encoding based on `batch_encoding_size`, allowing for both immediate and batched encoding. * LeRobotDataset video cleanup: Enabled individual episode cleanup and check for remaining PNG files before removing the `images` directory. * LeRobotDataset - VideoEncodingManager: added proper handling of pending episodes (encoding, cleaning) on exit or recording failures. * LeRobotDatasetMetadata: removed `update_video_info` to only update video info at episode index 0 encoding. * Adjusted the `record` function to utilize the new encoding management logic. * Removed `encode_videos` method from `LeRobotDataset` and `encode_episode_videos` outputs as they are nowhere used. --------- Signed-off-by: Xingdong Zuo <[email protected]> Co-authored-by: Xingdong Zuo <[email protected]> Co-authored-by: Caroline Pascal <[email protected]> * Add comment on torque disable merge conflict and resolution * Add comment on torque disable merge conflict and resolution --------- Signed-off-by: Yadunund <[email protected]> Signed-off-by: cranberrysoft <[email protected]> Signed-off-by: Francesco Capuano <[email protected]> Signed-off-by: Gregor Lenz <[email protected]> Signed-off-by: Martino Russi <[email protected]> Signed-off-by: Simon Alibert <[email protected]> Signed-off-by: Steven Palma <[email protected]> Signed-off-by: Xingdong Zuo <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: HUANG TZU-CHUN <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Pablo <[email protected]> Co-authored-by: Ilia Larchenko <[email protected]> Co-authored-by: Remi Cadene <[email protected]> Co-authored-by: Haskely <[email protected]> Co-authored-by: Yongjin Cho <[email protected]> Co-authored-by: Youssef Bayouli <[email protected]> Co-authored-by: Raul Garreta <[email protected]> Co-authored-by: Jannik Grothusen <[email protected]> Co-authored-by: Mishig <[email protected]> Co-authored-by: Quentin Gallouédec <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yachen Kang <[email protected]> Co-authored-by: yadunund <[email protected]> Co-authored-by: Tim Qian <[email protected]> Co-authored-by: eDeveloperOZ <[email protected]> Co-authored-by: Harsimrat Sandhawalia <[email protected]> Co-authored-by: Mathias Wulfman <[email protected]> Co-authored-by: Mathias Wulfman <[email protected]> Co-authored-by: Joe Clinton <[email protected]> Co-authored-by: Ben Sprenger <[email protected]> Co-authored-by: Ermano Arruda <[email protected]> Co-authored-by: Jade Choghari <[email protected]> Co-authored-by: Huan Liu <[email protected]> Co-authored-by: Guillaume LEGENDRE <[email protected]> Co-authored-by: Cole <[email protected]> Co-authored-by: Qizhi Chen <[email protected]> Co-authored-by: AlexC <[email protected]> Co-authored-by: Mariusz Dubielecki <[email protected]> Co-authored-by: mshukor <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Junwu Zhang <[email protected]> Co-authored-by: Caroline Pascal <[email protected]> Co-authored-by: HUANG TZU-CHUN <[email protected]> Co-authored-by: Junshan Huang <[email protected]> Co-authored-by: Alex Thiele <[email protected]> Co-authored-by: k1000dai <[email protected]> Co-authored-by: makolon <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: omahs <[email protected]> Co-authored-by: CharlesCNorton <[email protected]> Co-authored-by: masato-ka <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Ragnar <[email protected]> Co-authored-by: fracapuano <[email protected]> Co-authored-by: Ben Zhang <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Dhruva <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Sarunas Kalade <[email protected]> Co-authored-by: koenvanwijk <[email protected]> Co-authored-by: Yushun Xiang <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: tidely <[email protected]> Co-authored-by: David <[email protected]> Co-authored-by: pranavsaroha <[email protected]> Co-authored-by: Jim Burtoft <[email protected]> Co-authored-by: Krzysztof Skrzypski <[email protected]> Co-authored-by: Jean-Baptiste Cayrou <[email protected]> Co-authored-by: Gregor Lenz <[email protected]> Co-authored-by: leo-berte <[email protected]> Co-authored-by: nepyope <[email protected]> Co-authored-by: Martino Russi <[email protected]> Co-authored-by: jpizarrom <[email protected]> Co-authored-by: aka <[email protected]> Co-authored-by: Xingdong Zuo <[email protected]> Co-authored-by: Xingdong Zuo <[email protected]>
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* fix: sharing predicted chunk with user * [pre-commit.ci] pre-commit autoupdate (huggingface#1011) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Revert "[pre-commit.ci] pre-commit autoupdate" (huggingface#1025) * fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (huggingface#1022) Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (huggingface#1030) * Update tutorial (huggingface#1021) Co-authored-by: Simon Alibert <[email protected]> * Add description motor order SO-101 leader (huggingface#1051) * feat(encoding): switching to PyAV for ffmpeg related tasks (huggingface#983) * feat(docs): Add new docs build process (huggingface#1046) Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Docs: adapt text + fix video code (huggingface#1064) * Fix typos (huggingface#1070) * docs: minor corrections and clean-up (huggingface#1089) * Update 10_use_so100.md; use diff syntax (huggingface#944) Co-authored-by: Pepijn <[email protected]> * Update 12_use_so101.md (huggingface#1081) Co-authored-by: Pepijn <[email protected]> * bug fix for huggingface#1071 When --display_data=true, Failed running control_robot. (huggingface#1073) * Add editable -e for feetech install command (huggingface#1133) * Fix: emptying action queue between resets (huggingface#1117) * fix: typos and grammar (huggingface#1148) * Update README.md (huggingface#1160) * Update README.md (huggingface#1163) * [Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 (huggingface#1127) * (hotfix): nightly CI by clipping pymunk version below 7.0.0 (huggingface#1182) * [pre-commit.ci] pre-commit autoupdate (huggingface#1048) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Add SmolVLA (huggingface#1175) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: fracapuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> * Fix SmolVLA loss not sent to wandb (huggingface#1198) * Hardware API redesign (huggingface#777) Co-authored-by: Pepijn <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: Pepijn <[email protected]> * fix(smolvla): update record.py, fix populate_queues and remove unused dependencies (huggingface#1208) * replaced OBS_ROBOT with OBS_STATE constant (huggingface#1211) * Fix test_teleoperate (huggingface#1216) * Fix LeKiwi example (huggingface#1217) * Fix smolVLA dependencies (huggingface#1218) * fix(pyserial): adding pyserial dependency to global ones (huggingface#1219) * Update SmolVLA README.md (huggingface#1228) * Fix unable to set camera width/height to non-default (huggingface#1225) * Update tutorial link (huggingface#1250) * update KochFollower.get_observation() so it returns same observation structure as SO101 (huggingface#1248) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * [pre-commit.ci] pre-commit autoupdate (huggingface#1185) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Proposal for fix for enter_pressed on Windows (huggingface#1230) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * fix: update pi0 dependency version constraint (huggingface#1247) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Match motor names with ids lekiwi (huggingface#1261) * fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (huggingface#1256) Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): update realsense documentation (huggingface#1268) * Use HF Papers (huggingface#1120) * Skip normalization parameters in load_smolvla (huggingface#1274) * fix(record): no teleop needed when running with policy (huggingface#1284) * Port HIL SERL (huggingface#644) Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): SmolVLA fine-tuning getting started (huggingface#1201) Co-authored-by: Pepijn <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> * chore(teleop): print calibration path saved (huggingface#1286) * chore(dependencies): add gamepad support with pygame and hidapi (huggingface#1287) * Robot integration tutorial (huggingface#1285) * fix(docs): update send_feedback docstrings * Add sim tutorial, fix lekiwi motor config, add notebook links (huggingface#1275) Co-authored-by: AdilZouitine <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Fixes on robot integration tutorial (huggingface#1290) * Add keyboard teleop device to control the end effector robot (huggingface#1289) * Improve type hints (huggingface#1293) * fix(record): no teleop arg in reset environment (huggingface#1294) * `learner.py` import so101_leader instead of so100 (huggingface#1295) Co-authored-by: Adil Zouitine <[email protected]> * Fixing `PI0` Policy (huggingface#1297) * `gym_manipulator.py` Remove None value action_intervention of BaseLeaderTeleoperator (huggingface#1299) * (chore): incorrect resume parameter in recording documentation (huggingface#1301) * Update lekiwi.mdx (huggingface#1229) * bump `pi0` and `hil` transformers version (huggingface#1298) * docs: fix imitation learning robots docs command (huggingface#1308) * fix(benchmarks): remove .numpy() from frame in benchmark script (huggingface#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 <[email protected]> Signed-off-by: Francesco Capuano <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Caroline Pascal <[email protected]> Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: omahs <[email protected]> Co-authored-by: CharlesCNorton <[email protected]> Co-authored-by: masato-ka <[email protected]> Co-authored-by: Ragnar <[email protected]> Co-authored-by: mshukor <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: Ben Zhang <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Dhruva <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Sarunas Kalade <[email protected]> Co-authored-by: koenvanwijk <[email protected]> Co-authored-by: Yushun Xiang <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Quentin Gallouédec <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: tidely <[email protected]> Co-authored-by: David <[email protected]>
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Jul 29, 2025
* fix: sharing predicted chunk with user * [pre-commit.ci] pre-commit autoupdate (huggingface#1011) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Revert "[pre-commit.ci] pre-commit autoupdate" (huggingface#1025) * fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (huggingface#1022) Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(ci): Pin `torchcodec` (==0.2.1) to fix pipeline temporarly (huggingface#1030) * Update tutorial (huggingface#1021) Co-authored-by: Simon Alibert <[email protected]> * Add description motor order SO-101 leader (huggingface#1051) * feat(encoding): switching to PyAV for ffmpeg related tasks (huggingface#983) * feat(docs): Add new docs build process (huggingface#1046) Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Docs: adapt text + fix video code (huggingface#1064) * Fix typos (huggingface#1070) * docs: minor corrections and clean-up (huggingface#1089) * Update 10_use_so100.md; use diff syntax (huggingface#944) Co-authored-by: Pepijn <[email protected]> * Update 12_use_so101.md (huggingface#1081) Co-authored-by: Pepijn <[email protected]> * bug fix for huggingface#1071 When --display_data=true, Failed running control_robot. (huggingface#1073) * Add editable -e for feetech install command (huggingface#1133) * Fix: emptying action queue between resets (huggingface#1117) * fix: typos and grammar (huggingface#1148) * Update README.md (huggingface#1160) * Update README.md (huggingface#1163) * [Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 (huggingface#1127) * (hotfix): nightly CI by clipping pymunk version below 7.0.0 (huggingface#1182) * [pre-commit.ci] pre-commit autoupdate (huggingface#1048) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Add SmolVLA (huggingface#1175) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: fracapuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> * Fix SmolVLA loss not sent to wandb (huggingface#1198) * Hardware API redesign (huggingface#777) Co-authored-by: Pepijn <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: Pepijn <[email protected]> * fix(smolvla): update record.py, fix populate_queues and remove unused dependencies (huggingface#1208) * replaced OBS_ROBOT with OBS_STATE constant (huggingface#1211) * Fix test_teleoperate (huggingface#1216) * Fix LeKiwi example (huggingface#1217) * Fix smolVLA dependencies (huggingface#1218) * fix(pyserial): adding pyserial dependency to global ones (huggingface#1219) * Update SmolVLA README.md (huggingface#1228) * Fix unable to set camera width/height to non-default (huggingface#1225) * Update tutorial link (huggingface#1250) * update KochFollower.get_observation() so it returns same observation structure as SO101 (huggingface#1248) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * [pre-commit.ci] pre-commit autoupdate (huggingface#1185) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * Proposal for fix for enter_pressed on Windows (huggingface#1230) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> * fix: update pi0 dependency version constraint (huggingface#1247) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Match motor names with ids lekiwi (huggingface#1261) * fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla (huggingface#1256) Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): update realsense documentation (huggingface#1268) * Use HF Papers (huggingface#1120) * Skip normalization parameters in load_smolvla (huggingface#1274) * fix(record): no teleop needed when running with policy (huggingface#1284) * Port HIL SERL (huggingface#644) Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> * fix(docs): SmolVLA fine-tuning getting started (huggingface#1201) Co-authored-by: Pepijn <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Francesco Capuano <[email protected]> Co-authored-by: Steven Palma <[email protected]> * chore(teleop): print calibration path saved (huggingface#1286) * chore(dependencies): add gamepad support with pygame and hidapi (huggingface#1287) * Robot integration tutorial (huggingface#1285) * fix(docs): update send_feedback docstrings * Add sim tutorial, fix lekiwi motor config, add notebook links (huggingface#1275) Co-authored-by: AdilZouitine <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> * Fixes on robot integration tutorial (huggingface#1290) * Add keyboard teleop device to control the end effector robot (huggingface#1289) * Improve type hints (huggingface#1293) * fix(record): no teleop arg in reset environment (huggingface#1294) * `learner.py` import so101_leader instead of so100 (huggingface#1295) Co-authored-by: Adil Zouitine <[email protected]> * Fixing `PI0` Policy (huggingface#1297) * `gym_manipulator.py` Remove None value action_intervention of BaseLeaderTeleoperator (huggingface#1299) * (chore): incorrect resume parameter in recording documentation (huggingface#1301) * Update lekiwi.mdx (huggingface#1229) * bump `pi0` and `hil` transformers version (huggingface#1298) * docs: fix imitation learning robots docs command (huggingface#1308) * fix(benchmarks): remove .numpy() from frame in benchmark script (huggingface#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 <[email protected]> Signed-off-by: Francesco Capuano <[email protected]> * 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 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Adil Zouitine <[email protected]> Co-authored-by: imstevenpmwork <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Caroline Pascal <[email protected]> Co-authored-by: Mishig Davaadorj <[email protected]> Co-authored-by: omahs <[email protected]> Co-authored-by: CharlesCNorton <[email protected]> Co-authored-by: masato-ka <[email protected]> Co-authored-by: Ragnar <[email protected]> Co-authored-by: mshukor <[email protected]> Co-authored-by: Simon Alibert <[email protected]> Co-authored-by: Steven Palma <[email protected]> Co-authored-by: Dana Aubakirova <[email protected]> Co-authored-by: Remi <[email protected]> Co-authored-by: Ben Zhang <[email protected]> Co-authored-by: Pepijn <[email protected]> Co-authored-by: Dhruva <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Sarunas Kalade <[email protected]> Co-authored-by: koenvanwijk <[email protected]> Co-authored-by: Yushun Xiang <[email protected]> Co-authored-by: danaaubakirova <[email protected]> Co-authored-by: Quentin Gallouédec <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Eugene Mironov <[email protected]> Co-authored-by: s1lent4gnt <[email protected]> Co-authored-by: Ke Wang <[email protected]> Co-authored-by: Yoel Chornton <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: tidely <[email protected]> Co-authored-by: David <[email protected]>
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What this does
Various fixes on hardware integration tutorial (code examples, typos..)