lerobot-clone

mirror of https://github.com/huggingface/lerobot.git synced 2026-06-04 04:41:24 +00:00

Files

Adil Zouitine d32b76cc66 refactor(processor): improve processor pipeline typing with generic type (#1810 )

* refactor(processor): introduce generic type for to_output

- Always return `TOutput`
- Remove `_prepare_transition`, so `__call__` now always returns `TOutput`
- Update tests accordingly
- This refactor paves the way for adding settings for `to_transition` and `to_output` in `make_processor` and the post-processor

* refactor(processor): consolidate ProcessorKwargs usage across policies

- Removed the ProcessorTypes module and integrated ProcessorKwargs directly into the processor pipeline.
- Updated multiple policy files to utilize the new ProcessorKwargs structure for preprocessor and postprocessor arguments.
- Simplified the handling of processor kwargs by initializing them to empty dictionaries when not provided.

2025-09-02 12:57:14 +02:00

configuration_act.py

Package folder structure (#1417 )

2025-07-01 16:34:46 +02:00

modeling_act.py

feat(processor): multiple improvements to the pipeline porting (#1749 )

2025-08-31 20:38:52 +02:00

processor_act.py

refactor(processor): improve processor pipeline typing with generic type (#1810 )

2025-09-02 12:57:14 +02:00

README.md

Update readme (#1570 )

2025-08-01 17:39:39 +02:00

README.md

Paper

https://tonyzhaozh.github.io/aloha

Citation

@article{zhao2023learning,
  title={Learning fine-grained bimanual manipulation with low-cost hardware},
  author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
  journal={arXiv preprint arXiv:2304.13705},
  year={2023}
}