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709 Commits

Author SHA1 Message Date
AdilZouitine
fcd9da52eb Remove numpy array support 2025-05-15 18:42:59 +02:00
AdilZouitine
1722f6e504 fix formating and typos 2025-05-15 15:55:24 +02:00
Adil Zouitine
2051dd38fc [HIL-SERL] Review feedback modifications (#1112) 2025-05-15 15:24:41 +02:00
Eugene Mironov
c7a3973653 [PORT HIL-SERL] Better unit tests coverage for SAC policy (#1074) 2025-05-14 16:41:36 +02:00
Eugene Mironov
bfa775da46 Fixup proto header (#1104) 2025-05-13 17:16:01 +02:00
pre-commit-ci[bot]
15c7545b41 [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-05-12 16:05:46 +00:00
Michel Aractingi
bbc6b7d841 Added comment on SE(3) in kinematics and nits in lerobot/envs/utils.py 2025-05-12 18:05:22 +02:00
Michel Aractingi
69ece1407b Improved the takeover logic in the case of leader_automatic control_mode in gym_manipulator.py 2025-05-12 17:47:13 +02:00
Michel Aractingi
b104f8b012 Added number of steps after success as parameter in config 2025-05-09 18:09:10 +02:00
Michel Aractingi
fb9bb89cb4 Fixes in record_dataset and import gym_hil 2025-05-09 12:00:21 +02:00
Michel Aractingi
e22411ff22 removed fixed port values in find_joint_limits.py 2025-05-07 14:32:42 +02:00
Michel Aractingi
bdd9229576 robot_type nit 2025-05-07 13:59:21 +02:00
Michel Aractingi
633edcb3af added names in record_dataset function of gym_manipulator 2025-05-07 13:58:24 +02:00
AdilZouitine
adbf8bb85e Cleaning configs 2025-05-07 10:26:32 +02:00
Michel Aractingi
32fb13c81e style nit 2025-05-07 10:07:54 +02:00
Michel Aractingi
6792c3de8f Added missing lisences 2025-05-07 10:06:59 +02:00
Adil Zouitine
ad132c9c39 [HIL SERL] Env management and add gym-hil (#1077) 
Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>
 2025-05-07 09:39:21 +02:00
Adil Zouitine
70d55c77e9 Merge branch 'main' into user/adil-zouitine/2025-1-7-port-hil-serl-new 2025-05-06 16:43:44 +02:00
Michel Aractingi
5998203a33 [Port HIL-SERL] Final fixes for reward classifier (#1067) 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-05-05 11:33:09 +02:00
omahs
8cfab38824 Fix typos (#1070) 2025-05-05 10:35:32 +02:00
Eugene Mironov
6fa7df35df [PORT HIL-SERL] Add unit tests for SAC modeling (#999) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-05-05 09:27:42 +02:00
AdilZouitine
fb7c288c94 Update torch.load calls in network_utils.py to include weights_only=False, to ensure no regression with torch 2.6 update 2025-04-29 18:23:51 +02:00
Caroline Pascal
6d723c45a9 feat(encoding): switching to PyAV for ffmpeg related tasks (#983) 2025-04-29 17:39:35 +02:00
Pepijn
42bf1e8b9d Update tutorial (#1021) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-04-28 09:00:32 +02:00
AdilZouitine
4257fe5045 rename reward classifier 2025-04-25 18:38:52 +02:00
Michel Aractingi
ea89b29fe5 checkout normalize.py to prev commit 2025-04-25 18:10:59 +02:00
AdilZouitine
50e9a8ed6a cleaning 2025-04-25 17:22:02 +02:00
Michel Aractingi
bd4db8d747 [Port HIl-Serl] Refactor gym-manipulator (#1034) 2025-04-25 16:34:54 +02:00
AdilZouitine
a8da4a347e Clean the code 2025-04-24 17:22:54 +02:00
AdilZouitine
b8c2b0bb93 Clean the code and remove todo 2025-04-24 16:10:56 +02:00
Adil Zouitine
c58b504a9e [HIL-SERL]Remove overstrict pre-commit modifications (#1028) 2025-04-24 13:48:52 +02:00
Adil Zouitine
299effe0f1 [HIL-SERL] Update CI to allow installation of prerelease versions for lerobot (#1018) 
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
 2025-04-24 10:18:03 +02:00
AdilZouitine
b77cee7cc6 Ignore spellcheck for ik variable 2025-04-22 13:19:59 +00:00
Eugene Mironov
4ce3362724 Fixup linter (#1017) 2025-04-22 14:43:13 +02:00
AdilZouitine
6230840397 Fix linter issue part 2 2025-04-22 10:56:23 +02:00
AdilZouitine
c5845ee203 Fix linter issue 2025-04-22 10:37:08 +02:00
Eugene Mironov
0030ff3f74 [HIL-SERl PORT] Unit tests for Replay Buffer (#966) 2025-04-22 09:35:57 +02:00
Michel Aractingi
dc726cb9a3 Refactor crop_dataset_roi 2025-04-22 09:31:35 +02:00
AdilZouitine
a7a51cfc9c Refactor SACPolicy and configuration to replace 'grasp_critic' terminology with 'discrete_critic'. Update related methods and comments for clarity and consistency in handling discrete actions. 2025-04-18 14:57:03 +00:00
pre-commit-ci[bot]
0d70f0b85c [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 14:22:11 +00:00
Michel Aractingi
c1ee25d9f7 nits in configuration classifier and control_robot 2025-04-18 16:18:13 +02:00
Michel Aractingi
9886520d33 Added option to add current readings to the state of the policy 2025-04-18 16:18:13 +02:00
Michel Aractingi
3b24ad3c84 Fixes for the reward classifier 2025-04-18 16:18:13 +02:00
AdilZouitine
54c3c6d684 Enhance MLP class in modeling_sac.py with detailed docstring and refactor layer construction for improved readability. Simplify layer addition logic by removing unnecessary conditions and ensuring consistent handling of activations and dropout. 2025-04-18 14:15:06 +00:00
pre-commit-ci[bot]
fb92935601 [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 13:33:37 +00:00
AdilZouitine
dcd850feab Refactor SACObservationEncoder to improve modularity and readability. Split initialization into dedicated methods for image and state layers, and enhance caching logic for image features. Update forward method to streamline feature encoding and ensure proper normalization handling. 2025-04-18 15:10:22 +02:00
AdilZouitine
1ce368503d Refactor SACPolicy initialization by breaking down the constructor into smaller methods for normalization, encoders, critics, actor, and temperature setup. This enhances readability and maintainability. 2025-04-18 15:10:22 +02:00
AdilZouitine
fb075a709d Refactor input and output normalization handling in SACPolicy for improved clarity and efficiency. Consolidate encoder initialization logic and remove redundant else statements. 2025-04-18 15:10:22 +02:00
AdilZouitine
3424644ecd Fix init temp 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
c37936f2c9 Update log_std_min type to float in PolicyConfig for consistency 2025-04-18 15:10:22 +02:00