Jade Choghari
43b0f17eb9
feat(policies): Add X-VLA ( #2405 )
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* first commit
* more fixes
* add franka action
* update testing script
* add changes
* update files
* logits matching
* add imagenet as a norm type
* logits matching atol1e-2
* more eval fixes
* more changes
* xvla works on libero
* remove seed
* more refactoring
* more fixes
* more changes
* more changes
* more fixes
* migrate policy revert
* major pre-commit cleanup
* renaming
* revert to self.transformer
* refactor
* new changes
* clean
* update libero
* more changes
* make it work
* more changes:
* remove imagenet dependency
* style
* more
* more refactor
* remove proprio
* add loss
* more
* more
* add freeze/unfreeze options
* add testing
* upgrade transformers version
* update testing
* add installation
* remove .sh file
* fix testing
* silent linter in xvlatest
* fix failing test
* upgrade test, fix failing
* fix testing
* more fixes to testing
* require cuda in tests
* temp check
* add xvla docs
* fix styling
* update libero doc
* remove timm dep
* add different dtype support
* remove timm skip
* remove white lines
* Enhance X-VLA finetuning documentation with optimizer details (#2537 )
Added detailed instructions for implementing a custom optimizer and modifying parameter retrieval for X-VLA finetuning.
Signed-off-by: Jinliang Zheng <54488861+2toinf@users.noreply.github.com >
* fix style
* iterate on review
* iterate on cpilot
* revert xvla dep
* free up ci
* test(xvla): remove main test (#2565 )
* Add xvla custom optim and dtype (#2567 )
* add custom optim
* add custom optim
* add auto mode
* more changes
* add identity to all
* add auto
* release
* add docs
* make image smaller docs
* smaller image in doc
* evan smaller image doc
* finalize doc
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Signed-off-by: Jinliang Zheng <54488861+2toinf@users.noreply.github.com >
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
Co-authored-by: Jinliang Zheng <54488861+2toinf@users.noreply.github.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-03 15:29:14 +01:00
Daniel San José Pro
9ec9ee781a
feat(policies): Allow users to register 3rd party policies - pip install lerobot_policy_mypolicy ( #2308 )
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* feat: Register external policies
* ruff fix
* move policy util functions to policy factory
* refactor register_third_party_devices -> register_third_party_plugins
* feat: Update docs with bring your own policies
* Improve docs for new policies
* fix: Inconsistent quotation marks
* fix: Remove print statement
* fix: wrong base class name in documentation
* fix: Handle better how the models are parsed
* fix: precommit passing
* Update docs/source/bring_your_own_policies.mdx
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
Signed-off-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com >
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Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
Signed-off-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-03 12:09:24 +01:00
Jade Choghari
6e86a69dcd
feat(envs): add envs pre-post processor ( #2474 )
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* more changes
* working changes
* more changes
* more fixes
* fix style
* more
* clean
* put axis-1
* more fixes
* more styling fixes:
* iterate on review:
* more changes
* add env processor
* style
* more changes
* add docs
* fix imports
* fix test, add to train
* Update src/lerobot/envs/factory.py
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Signed-off-by: Jade Choghari <chogharijade@gmail.com >
* iterate on review
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Signed-off-by: Jade Choghari <chogharijade@gmail.com >
Co-authored-by: jade.choghari@huggingface.co <“chogharijade@gmail.com ”>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-11-19 18:36:14 +01:00
Steven Palma
be46bdea8f
feat(policies): add Nvidia Gr00t N1.5 model ( #2292 )
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* feat(policies): add Nvidia Gr00t N1.5 model
Co-authored-by: lbenhorin <lbenhorin@nvidia.com >
Co-authored-by: Aravindh <aravindhs@nvidia.com >
Co-authored-by: nv-sachdevkartik <ksachdev@nvidia.com >
Co-authored-by: youliangt <youliangt@nvidia.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: Jade Choghari <chogharijade@gmail.com >
* fix(docs): add groot to index
Co-authored-by: sachdevkartik <sachdev.kartik25@gmail.com >
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Co-authored-by: lbenhorin <lbenhorin@nvidia.com >
Co-authored-by: Aravindh <aravindhs@nvidia.com >
Co-authored-by: nv-sachdevkartik <ksachdev@nvidia.com >
Co-authored-by: youliangt <youliangt@nvidia.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com >
Co-authored-by: Jade Choghari <chogharijade@gmail.com >
Co-authored-by: sachdevkartik <sachdev.kartik25@gmail.com >
2025-10-23 13:50:30 +02:00
Jade Choghari
a024d33750
fix(bug): Fix policy renaming ValueError during training ( #2278 )
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* fixes
* style
* Update src/lerobot/policies/factory.py
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: Jade Choghari <chogharijade@gmail.com >
* style
* add review fixes
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Signed-off-by: Jade Choghari <chogharijade@gmail.com >
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
2025-10-21 16:00:46 +02:00
Steven Palma
b954337ac7
fix(scripts): add missing observation overwrite in eval and async ( #2265 )
2025-10-20 23:34:24 +02:00
Steven Palma
1ee8d824f5
fix(docs): update eval example ( #2236 )
...
Co-authored-by: Hemanth M <ee24b024@smail.iitm.ac.in >
2025-10-18 00:51:17 +02:00
Infinity4B
52455d03a7
fix eval-related doc errors ( #2183 )
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Signed-off-by: Steven Palma <imstevenpmwork@ieee.org >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-10-17 14:34:21 +02:00
Jade Choghari
271d92dcaa
feat(sim): add metaworld env ( #2088 )
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* add metaworld
* smol update
Signed-off-by: Jade Choghari <chogharijade@gmail.com >
* update design
* Update src/lerobot/envs/metaworld.py
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: Jade Choghari <chogharijade@gmail.com >
* update
* small changes
* iterate on review
* small fix
* small fix
* add docs
* update doc
* add better gif
* smol doc fix
* updage gymnasium
* add note
* depreciate gym-xarm
* more changes
* update doc
* comply with mypy
* more fixes
* update readme
* precommit
* update pusht
* add pusht instead
* changes
* style
* add changes
* update
* revert
* update v2
* chore(envs): move metaworld config to its own file + remove comments + simplify _format_raw_obs (#2200 )
* update final changes
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Signed-off-by: Jade Choghari <chogharijade@gmail.com >
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-10-14 17:21:18 +02:00
Steven Palma
c5b5955c5a
chore: replace hard-coded next values with constants throughout all the source code ( #2056 )
2025-09-26 14:30:07 +02:00
Steven Palma
d2782cf66b
chore: replace hard-coded action values with constants throughout all the source code ( #2055 )
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* chore: replace hard-coded 'action' values with constants throughout all the source code
* chore(tests): replace hard-coded action values with constants throughout all the test code
2025-09-26 13:33:18 +02:00
Steven Palma
43d878a102
chore: replace hard-coded obs values with constants throughout all the source code ( #2037 )
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* chore: replace hard-coded OBS values with constants throughout all the source code
* chore(tests): replace hard-coded OBS values with constants throughout all the test code
2025-09-25 15:36:47 +02:00
Steven Palma
ddba994d73
chore(scripts): rename eval and train scripts ( #2033 )
2025-09-24 18:29:58 +02:00
