Jade Choghari 43b0f17eb9 feat(policies): Add X-VLA (#2405) ...

* 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

..

_toctree.yml

feat(policies): Add X-VLA (#2405)

2025-12-03 15:29:14 +01:00

act.mdx

Add act documentation (#2139)

2025-10-08 20:07:14 +02:00

async.mdx

fix(examples): wrap all of them into a main function (#2524)

2025-11-26 14:28:04 +01:00

backwardcomp.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

bring_your_own_policies.mdx

feat(policies): Allow users to register 3rd party policies - pip install lerobot_policy_mypolicy (#2308)

2025-12-03 12:09:24 +01:00

cameras.mdx

chore(docs): prioritize use of entry points in docs + fix nightly badge (#1692)

2025-08-07 14:25:44 +02:00

contributing.md

Hardware API redesign (#777)

2025-06-05 17:48:43 +02:00

debug_processor_pipeline.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

env_processor.mdx

feat(envs): add envs pre-post processor (#2474)

2025-11-19 18:36:14 +01:00

envhub_leisaac.mdx

feat(utils): precise_sleep() less CPU hungry without sacrificing accuracy (#2526)

2025-11-26 17:42:16 +01:00

envhub.mdx

feat(sim): EnvHub - allow loading envs from the hub (#2121)

2025-11-04 14:52:46 +01:00

feetech.mdx

Add feetech firmware update docs (#1793)

2025-08-28 11:18:54 +02:00

groot.mdx

docs(install): imrpove groot and libero installation instructions (#2314)

2025-10-26 15:37:41 +08:00

hilserl_sim.mdx

chore(rl): move rl related code to its directory at top level (#2002)

2025-09-23 16:32:34 +02:00

hilserl.mdx

chore: remove unused code (#2062)

2025-09-29 10:49:36 +02:00

hope_jr.mdx

chore(docs): prioritize use of entry points in docs + fix nightly badge (#1692)

2025-08-07 14:25:44 +02:00

il_robots.mdx

feat(utils): precise_sleep() less CPU hungry without sacrificing accuracy (#2526)

2025-11-26 17:42:16 +01:00

implement_your_own_processor.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

index.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

installation.mdx

doc: fix wrong package name in installation doc (#2513)

2025-12-03 13:36:59 +01:00

integrate_hardware.mdx

fix(docs): markdown formatting in integrate_hardware.mdx (#2232)

2025-10-17 16:33:46 +02:00

introduction_processors.mdx

fic(docs): local docs links (#2149)

2025-10-09 15:20:07 +02:00

koch.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

lekiwi.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

lerobot-dataset-v3.mdx

Add missing finalize calls in example (#2175)

2025-10-11 21:15:43 +02:00

libero.mdx

feat(policies): Add X-VLA (#2405)

2025-12-03 15:29:14 +01:00

metaworld.mdx

feat(sim): add metaworld env (#2088)

2025-10-14 17:21:18 +02:00

multi_gpu_training.mdx

feat(train): add accelerate for multi gpu training (#2154)

2025-10-16 17:41:55 +02:00

notebooks.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

phone_teleop.mdx

fic(docs): local docs links (#2149)

2025-10-09 15:20:07 +02:00

pi0.mdx

docs(install): imrpove groot and libero installation instructions (#2314)

2025-10-26 15:37:41 +08:00

pi05.mdx

docs(install): imrpove groot and libero installation instructions (#2314)

2025-10-26 15:37:41 +08:00

policy_act_README.md

Update readme (#1570)

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

policy_diffusion_README.md

Update readme (#1570)

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

policy_groot_README.md

feat(policies): add Nvidia Gr00t N1.5 model (#2292)

2025-10-23 13:50:30 +02:00

policy_smolvla_README.md

Update readme (#1570)

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

policy_tdmpc_README.md

Update readme (#1570)

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

policy_vqbet_README.md

Update readme (#1570)

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

porting_datasets_v3.mdx

Dataset v3 (#1412)

2025-09-15 09:53:30 +02:00

processors_robots_teleop.mdx

chore: remove unused code (#2062)

2025-09-29 10:49:36 +02:00

reachy2.mdx

2 add reachy 2 to updated lerobot (#1767)

2025-09-05 11:03:14 +02:00

rtc.mdx

[RTC] Real Time Chunking for Pi0, Smolvla, Pi0.5 (#1698)

2025-11-19 11:19:48 +01:00

smolvla.mdx

Add OpenPi, Pi0 and Pi0.5 (#1910)

2025-10-02 13:14:45 +02:00

so100.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

so101.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

unitree_g1.mdx

Feat/add unitree g1 robot (#2530)

2025-12-01 16:10:13 +01:00

using_dataset_tools.mdx

Dataset tools (#2100)

2025-10-10 12:32:07 +02:00

xvla.mdx

feat(policies): Add X-VLA (#2405)

2025-12-03 15:29:14 +01:00