Geoffrey19
fc6262e23d
remove flash-attn requirement && fix bug in inference and fast mode
2025-12-17 18:06:38 +01:00
Geoffrey19
d2b16afb12
update
2025-12-17 18:06:38 +01:00
Geoffrey19
76e6dc1ba1
fixed dtype bugs
2025-12-17 18:06:37 +01:00
Geoffrey19
d10d3ef251
reduce to least config and params & pass lerobot basic test
2025-12-17 18:06:37 +01:00
Geoffrey19
feebca050a
update the policy methods
2025-12-17 18:06:36 +01:00
Geoffrey19
a8e7a2967c
incorporate wallx model into lerobot
2025-12-17 18:06:36 +01:00
Geoffrey19
2cf509795e
fix bugs in flow
2025-12-17 18:06:36 +01:00
vincentchen
d3846b0beb
support wallx
2025-12-17 18:06:35 +01:00
Michel Aractingi
08d2ed8015
lerobot dataset fix
2025-12-17 16:46:43 +01:00
CarolinePascal
9cfd56587e
fix(num processes)
2025-12-17 16:46:43 +01:00
Caroline Pascal
ff8584a025
fix(os version)
...
Signed-off-by: Caroline Pascal <caroline8.pascal@gmail.com >
2025-12-17 16:46:43 +01:00
Caroline Pascal
6bc1e5186a
fix(import os)
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Signed-off-by: Caroline Pascal <caroline8.pascal@gmail.com >
2025-12-17 16:46:43 +01:00
Caroline Pascal
69dc8165ae
fix(max workers)
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Signed-off-by: Caroline Pascal <caroline8.pascal@gmail.com >
2025-12-17 16:46:42 +01:00
CarolinePascal
021bca2ad9
feat(multi-processes): adding support for multiprocess encoding
2025-12-17 16:46:42 +01:00
CarolinePascal
4e0ee0d643
feat(preset): adding encoding preset
2025-12-17 16:46:42 +01:00
croissant
19fe69dac0
add improv openarm mini
2025-12-17 16:46:41 +01:00
Pepijn
40e98ba690
fix calibration of gripper and add max clip positions for openarm for safety
2025-12-17 16:46:41 +01:00
pepijn kooijmans
894d65d58a
add openarms to setup motors
2025-12-17 16:46:41 +01:00
Pepijn
f58d508df2
cleanuo
2025-12-17 16:46:40 +01:00
Pepijn
e22b909e7c
Add mini openarms to test
2025-12-17 16:46:40 +01:00
croissant
09f1673cbf
add longer timeout
2025-12-17 16:46:40 +01:00
croissant
4744f99990
add timing debugging, foot pedal and eval script
2025-12-17 16:46:40 +01:00
croissant
01c1735739
add disable torque
2025-12-17 16:46:40 +01:00
croissant
6808a42455
add pid ramp
2025-12-17 16:46:40 +01:00
croissant
e2c00f6ed8
speedup
2025-12-17 16:46:39 +01:00
croissant
0f90db23c5
add full bimanual gravity comp
2025-12-17 16:46:39 +01:00
Pepijn
ecdc34a699
faster canbus
2025-12-17 16:46:39 +01:00
croissant
fa6a2fb9b7
pos teleop
2025-12-17 16:46:39 +01:00
Pepijn
b011643dc9
add tests and debug
2025-12-17 16:46:38 +01:00
Pepijn
30c10c1c6e
Add damiao motors and open arm robot
2025-12-17 16:46:38 +01:00
Pepijn
56e2360072
add damiao
2025-12-17 16:46:38 +01:00
Steven Palma
b303d1ab38
feat(scripts): add more info to lerobot-info ( #2663 )
2025-12-17 14:14:23 +01:00
Steven Palma
b1d162f333
fix(policies): add device back to smolvlm expert ( #2662 )
2025-12-17 12:12:03 +01:00
Steven Palma
2b304eeb84
feat(dataset): expose tolerance_s argument to training config ( #2653 )
2025-12-16 00:53:19 +01:00
Sota Nakamura
4e6048a221
finalize the dataset after recording ( #2496 )
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-15 17:57:04 +01:00
Martino Russi
a6c3a0fa09
Feat/add mj env ( #2613 )
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* add sim support
* close fix threading issues
2025-12-15 16:22:27 +01:00
Woojin Wie
c2fb644613
feat(robot): Add support for OMX robot ( #2614 )
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* upload
* feat(omx): simplify motor initialization and remove default calibration files
* feat(omx): read motor positions without normalization for improved accuracy
* update calibration method for return factory value
Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr >
* change the drive mode
* refactor: clean up code by removing unnecessary blank lines in omx_follower and omx_leader modules
* feat(omx): update calibration method to set drive modes for motors
* feat(pyproject): add 'ROBOTIS' to extend-ignore-identifiers-re list
* feat(omx): enhance calibration method to write default drive modes to motors
* Update src/lerobot/robots/omx_follower/__init__.py
Add informations about the robot
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com >
---------
Signed-off-by: Junha Cha <ckwnsgk1@gachon.ac.kr >
Signed-off-by: Woojin Wie <dnldnwls1123@gmail.com >
Co-authored-by: Junha02 <chajunha2023@naver.com >
Co-authored-by: Junha Cha <ckwnsgk1@gachon.ac.kr >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-15 15:50:29 +01:00
Michel Aractingi
ce348a3460
enable variable image sizes to pi0/pi0.5 ( #2609 )
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* enable variable image sizes to pi0/pi0.5
* add square image assertion
2025-12-10 19:41:11 +01:00
Jade Choghari
7f40b3bf82
feat(dataset): add tool to convert images to video datasets ( #2560 )
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* add video encoding tool
* style
* make it work
* more fixes
2025-12-08 18:50:21 +01:00
Michel Aractingi
2e9c9fd832
Replay while loop in sample actions with for loops ( #2600 )
2025-12-08 14:47:54 +01:00
Michel Aractingi
0217e1e3ad
Fix dataset aggreagation for multi video datasets' ( #2550 )
2025-12-05 16:09:25 +01:00
Steven Palma
56b43cc888
fix(scripts): missing so101 import ( #2577 )
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* fix(scripts): missing so101 import
Co-authored-by: Skyler <skylerwiernik@gmail.com >
* fix(scripts): move urdf to cli args
* refactor(scripts): improve find_joints_limits
---------
Co-authored-by: Skyler <skylerwiernik@gmail.com >
2025-12-03 18:20:26 +01:00
Steven Palma
f8a4cf225b
feat(robots): add earth rover robot support ( #2575 )
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Co-authored-by: somthecoder <sbaner64@gmail.com >
Co-authored-by: randomSmarts <Aarshsmittal@gmail.com >
Co-authored-by: Hassoonu <halsae2@illinois.edu >
Co-authored-by: Saketh06 <saketh.kantipudi@gmail.com >
Co-authored-by: sairajshetye <sairajshetye2@gmail.com >
Co-authored-by: Khalil Meftah <kmeftah.khalil@gmail.com >
2025-12-03 15:36:22 +01:00
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
---------
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
Steven Palma
b0b755471b
Revert "Earth Rover Mini Plus integration ( #2544 )" ( #2574 )
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This reverts commit 35c5a27352
2025-12-03 14:43:07 +01:00
s1lent4gnt
35c5a27352
Earth Rover Mini Plus integration ( #2544 )
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* feat: Add EarthRover Mini Plus robot integration with Frodobots SDK
* refactor: Clean up
* refactor: Remove VirtualCamera implementation for EarthRover Mini Plus integration
* fix: Reduce timeout for camera requests
* fix: Add empty cameras dict for compatibility with recording script
* refactor: Remove record.py script for EarthRover Mini Plus use lerobot_record instead
* refactor: Update documentation for EarthRover Mini Plus integration
* refactor keyboard teleoperation
* refactor: Remove angular velocity
* docs: Add documentation for EarthRover Mini Plus integration
* Add earthrover_mini_plus robot to replay and teleoperate scripts
* refactor: Update stop key from Space to X
* refactor: Implement caching for camera frames and robot telemetry data
* refactor
* refactor: Replace string literals with constants for action and observation keys
* Add Earth Rover Mini to robots section in documentation
Co-authored-by: somthecoder sbaner64@gmail.com
Co-authored-by: randomSmarts Aarshsmittal@gmail.com
Co-authored-by: Hassoonu halsae2@illinois.edu
Co-authored-by: Saketh06 saketh.kantipudi@gmail.com
Co-authored-by: sairajshetye sairajshetye2@gmail.com
2025-12-03 14:24:57 +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 >
---------
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
Md. Muhaimin Rahman
0b497fc37d
Make transport module Mypy Compliant [issue#1731] ( #2433 )
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* latest
* Delete =3.0.0
Signed-off-by: Md. Muhaimin Rahman <sezan92@gmail.com >
* Update src/lerobot/transport/utils.py
Signed-off-by: Md. Muhaimin Rahman <sezan92@gmail.com >
---------
Signed-off-by: Md. Muhaimin Rahman <sezan92@gmail.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-12-02 22:12:15 +01:00
Michel Aractingi
797cd2725a
fix pi05 forward compile ( #2551 )
2025-12-02 11:01:43 +01:00
Martino Russi
37f43df88a
Feat/add unitree g1 robot ( #2530 )
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* add unitree_g1_robot_class
* finish locomotion loading code
* precommit
* separate groot locomotion logic
* remove leftover locomotion variable, unify kp kd
* format config
* properly comment config, example locomotion and unitree_g1 class
* ready to review
* download policy from the hub in `examples/unitree_g1/gr00t_locomotion`
* fix linter
* make precommit happy, add ignore flags
* linter pt3
* linter pt4
* [done] make precommit happy
* fix linter 5
* add docs
* push utils
* feat(robots): add Unitree G1 humanoid support with ZMQ bridge (#2539 )
* feat(robots): add Unitree G1 humanoid support with ZMQ bridge
- Use JSON + base64 serialization for secure communication instead of pickle
- Add documentation section
- Rename robot_server to run_g1_server
- Add dependecies to pyproject.toml
* nit in docs
* remove globals use
* cast robot data to int/float
* ensure robot is connected before changing mode
* temperature can be list, average in such case
---------
Co-authored-by: Martino Russi <nopyeps@gmail.com >
* style nit
* remove transform_imu_data
* remove scipy dependency
* modify toml, add external unitree_sdk2py dep
* return actions from send_action
* cleaning
* add instructions for local deployment
* Update src/lerobot/robots/unitree_g1/unitree_g1.py
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
* update config and readme
* update docs
* update docs
* remove torch import
* fix docs
* remove ip from docs
* add licence header
---------
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
2025-12-01 16:10:13 +01:00
