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36576c958fbc41cdbdbc286b49fb18cea3de332e
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217 Commits

Author SHA1 Message Date
Michel Aractingi
36576c958f FREEDOM, added back the optimization loop code in learner_server.py 
Ran experiment with pushcube env from maniskill. The learning seem to work.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-02-03 15:07:58 +00:00
Michel Aractingi
322a78a378 Added server directory in lerobot/scripts that contains scripts and the protobuf message types to split training into two processes, acting and learning. The actor rollouts the policy and collects interaction data while the learner recieves the data, trains the policy and sends the updated parameters to the actor. The two scripts are ran simultaneously 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-02-03 15:07:58 +00:00
AdilZouitine
d75b44f89f Stable version of rlpd + drq 2025-02-03 15:07:57 +00:00
Adil Zouitine
7d2970fdfe Change SAC policy implementation with configuration and modeling classes 2025-02-03 15:07:50 +00:00
Adil Zouitine
c1d4bf4b63 SAC works 2025-02-03 15:06:18 +00:00
Adil Zouitine
be965019bd Add rlpd tricks 2025-02-03 15:06:18 +00:00
Adil Zouitine
a0a50de8c9 SAC works 2025-02-03 15:06:18 +00:00
Adil Zouitine
472a7f58ad [WIP] correct sac implementation 2025-02-03 15:06:14 +00:00
Pradeep Kadubandi
068efce3f8 Fix for the issue https://github.com/huggingface/lerobot/issues/638 (#639) 2025-02-03 15:04:03 +00:00
Mishig
100f54ee07 [viz] Fixes & updates to html visualizer (#617) 2025-02-03 15:04:03 +00:00
Ville Kuosmanen
a1b5d0faf2 fix(visualise): use correct language description for each episode id (#604) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-02-03 15:04:03 +00:00
Mishig
0a4e9e25d0 [vizualizer] for LeRobodDataset V2 (#576) 2025-02-03 15:04:02 +00:00
Michel Aractingi
3bb5ed5e91 Extend reward classifier for multiple camera views (#626) 2025-01-13 13:57:49 +01:00
Eugene Mironov
c5bca1cf0f [Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-01-06 11:34:00 +01:00
Michel Aractingi
35de91ef2b added temporary fix for missing task_index key in online environment 2024-12-30 13:47:28 +00:00
Michel Aractingi
dc54d357ca Added normalization schemes and style checks 2024-12-29 12:51:21 +00:00
Michel Aractingi
08ec971086 added optimizer and sac to factory.py 2024-12-23 14:12:03 +01:00
Michel Aractingi
668d493bf9 Update lerobot/scripts/train_hilserl_classifier.py 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:44:31 +07:00
Eugene Mironov
1020bc3108 Fixup 2024-12-17 02:42:53 +07:00
Michel Aractingi
7fcf638c0d Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:41:31 +07:00
Yoel
e35546f58e Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2024-12-17 02:41:29 +07:00
Simon Alibert
4c41f6fcc6 Fix example 6 (#572) 2024-12-11 10:32:18 +01:00
Michel Aractingi
8e7d6970ea Control simulated robot with real leader (#514) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-12-03 12:20:05 +01:00
Remi
286bca37cc Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-12-03 10:53:21 +01:00
Michel Aractingi
a2c181992a Refactor OpenX (#505) 2024-12-03 00:51:55 +01:00
Simon Alibert
32eb0cec8f Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00
Daniel Ritchie
8af693548e Add support for Windows (#494) 2024-11-22 19:14:25 +01:00
Remi
07e8716315 Add FeetechMotorsBus, SO-100, Moss-v1 (#419) 
Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-25 11:23:55 +02:00
Remi
77478d50e5 Refactor record with add_frame (#468) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-16 20:51:35 +02:00
Remi
97b1feb0b3 Add policy/act_aloha_real.yaml + env/act_real.yaml (#429) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-10 17:12:45 +02:00
Simon Alibert
1a343c3591 Add support for Stretch (hello-robot) (#409) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2024-10-04 18:56:42 +02:00
Remi
26f97cfd17 Enable CI for robot devices with mocked versions (#398) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-03 17:05:23 +02:00
Simon Alibert
c712d68f6a Fix nightlies (#443) 2024-09-18 14:51:45 +02:00
Remi
beaa427504 Fix slow camera fps with Aloha (#433) 2024-09-12 14:20:24 +02:00
Jack Vial
b0b8612eff fix(calibrate): fix calibrate arms option type. should be str not int (#418) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-09-06 14:44:31 +02:00
Remi
429a463aff Control aloha robot natively (#316) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-09-04 19:28:05 +02:00
Mishig
114e09f570 rm EpisodeSampler from viz (#389) 2024-08-30 10:53:55 +02:00
Michel Aractingi
4806336816 Add the possibility to visualize language instructions in visualize_dataset_html.py (#388) 
Co-authored-by: Mishig <dmishig@gmail.com>
 2024-08-28 11:50:31 +02:00
Michel Aractingi
eb4c505cff Support for converting OpenX datasets from RLDS format to LeRobotDataset (#354) 
Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-08-27 09:07:00 +02:00
Alexander Soare
9c7649f140 Make sure init_hydra_config does not require any keys (#376) 2024-08-23 12:27:08 +01:00
Zhuoheng Li
a2592a5563 Provide more information to the user (#358) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-08-23 11:00:35 +01:00
Simon Alibert
b98ea415c1 Add dataset cards (#363) 2024-08-16 10:08:44 +02:00
Remi
bbe9057225 Improve control robot ; Add process to configure motor indices (#326) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: jess-moss <jess.moss@dextrousrobotics.com>
Co-authored-by: Marina Barannikov <marina.barannikov@huggingface.co>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-08-15 18:11:33 +02:00
Remi
2252b42337 Add visualize_dataset_html with http.server (#188) 2024-08-08 20:19:06 +03:00
Alexander Soare
f8a6574698 Add online training with TD-MPC as proof of concept (#338) 2024-07-25 11:16:38 +01:00
Simon Alibert
0b21210d72 Convert datasets to av1 encoding (#302) 2024-07-22 20:08:59 +02:00
Simon Alibert
461d5472d3 Fix visualize_image_transforms (#333) 2024-07-18 22:26:00 +02:00
Simon Alibert
8865e19c12 Fix datasets missing versions (#318) 2024-07-16 23:02:31 +02:00
Alexander Soare
5f5efe7cb9 Improve error message when attempting to overwrite a training output folder (#322) 2024-07-16 16:50:31 +01:00
Remi
5e54e39795 Add real robot devices and scripts to control real robot (#288) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-07-15 17:43:10 +02:00