From 1249aee3acdc12c6a9212f99df2a5c7a71f449e0 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Fri, 10 May 2024 07:45:32 +0100 Subject: [PATCH 1/7] Enable logging all the information returned by the `forward` methods of policies (#151) --- lerobot/common/logger.py | 5 +++++ lerobot/common/policies/act/modeling_act.py | 4 ++-- lerobot/common/policies/policy_protocol.py | 3 ++- lerobot/scripts/train.py | 4 +++- .../aloha_act/output_dict.safetensors | Bin 196 -> 68 bytes 5 files changed, 12 insertions(+), 4 deletions(-) diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py index 8e7fe7f2..7a3e6eac 100644 --- a/lerobot/common/logger.py +++ b/lerobot/common/logger.py @@ -114,6 +114,11 @@ class Logger: assert mode in {"train", "eval"} if self._wandb is not None: for k, v in d.items(): + if not isinstance(v, (int, float, str)): + logging.warning( + f'WandB logging of key "{k}" was ignored as its type is not handled by this wrapper.' + ) + continue self._wandb.log({f"{mode}/{k}": v}, step=step) def log_video(self, video_path: str, step: int, mode: str = "train"): diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index 5ff25fea..a795d87b 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -101,7 +101,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): F.l1_loss(batch["action"], actions_hat, reduction="none") * ~batch["action_is_pad"].unsqueeze(-1) ).mean() - loss_dict = {"l1_loss": l1_loss} + loss_dict = {"l1_loss": l1_loss.item()} if self.config.use_vae: # Calculate Dā‚–ā‚—(latent_pdf || standard_normal). Note: After computing the KL-divergence for # each dimension independently, we sum over the latent dimension to get the total @@ -110,7 +110,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): mean_kld = ( (-0.5 * (1 + log_sigma_x2_hat - mu_hat.pow(2) - (log_sigma_x2_hat).exp())).sum(-1).mean() ) - loss_dict["kld_loss"] = mean_kld + loss_dict["kld_loss"] = mean_kld.item() loss_dict["loss"] = l1_loss + mean_kld * self.config.kl_weight else: loss_dict["loss"] = l1_loss diff --git a/lerobot/common/policies/policy_protocol.py b/lerobot/common/policies/policy_protocol.py index 5749c6a8..b00cff5c 100644 --- a/lerobot/common/policies/policy_protocol.py +++ b/lerobot/common/policies/policy_protocol.py @@ -38,7 +38,8 @@ class Policy(Protocol): def forward(self, batch: dict[str, Tensor]) -> dict: """Run the batch through the model and compute the loss for training or validation. - Returns a dictionary with "loss" and maybe other information. + Returns a dictionary with "loss" and potentially other information. Apart from "loss" which is a Tensor, all + other items should be logging-friendly, native Python types. """ def select_action(self, batch: dict[str, Tensor]): diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index d5fedc84..7319e03f 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -72,6 +72,7 @@ def make_optimizer_and_scheduler(cfg, policy): def update_policy(policy, batch, optimizer, grad_clip_norm, lr_scheduler=None): + """Returns a dictionary of items for logging.""" start_time = time.time() policy.train() output_dict = policy.forward(batch) @@ -99,6 +100,7 @@ def update_policy(policy, batch, optimizer, grad_clip_norm, lr_scheduler=None): "grad_norm": float(grad_norm), "lr": optimizer.param_groups[0]["lr"], "update_s": time.time() - start_time, + **{k: v for k, v in output_dict.items() if k != "loss"}, } return info @@ -122,7 +124,7 @@ def train_notebook(out_dir=None, job_name=None, config_name="default", config_pa train(cfg, out_dir=out_dir, job_name=job_name) -def log_train_info(logger, info, step, cfg, dataset, is_offline): +def log_train_info(logger: Logger, info, step, cfg, dataset, is_offline): loss = info["loss"] grad_norm = info["grad_norm"] lr = info["lr"] diff --git a/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors index 02235e1713c7e9442a9432fe2ded6759864ae4ef..4c738f3972e7298fa60f0b4299365f62064da75a 100644 GIT binary patch delta 27 ecmX@Y=)!5i00Gq#>kPRJbWCDvYiE5gaRLBM6$d^5 delta 62 zcmZ=c!pOIQ0RpO(vU5`6Cvusx>L}$H0vQHuCOQ_ewK@|y4Mi<<42@!IYZVmCN)I?3 MThwDe>wAe40M Date: Sat, 11 May 2024 12:45:51 +0100 Subject: [PATCH 2/7] Remove torchrl acknowledgement (#177) --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index a305dbff..a936ecfe 100644 --- a/README.md +++ b/README.md @@ -57,7 +57,6 @@ - Thanks to Tony Zaho, Zipeng Fu and colleagues for open sourcing ACT policy, ALOHA environments and datasets. Ours are adapted from [ALOHA](https://tonyzhaozh.github.io/aloha) and [Mobile ALOHA](https://mobile-aloha.github.io). - Thanks to Cheng Chi, Zhenjia Xu and colleagues for open sourcing Diffusion policy, Pusht environment and datasets, as well as UMI datasets. Ours are adapted from [Diffusion Policy](https://diffusion-policy.cs.columbia.edu) and [UMI Gripper](https://umi-gripper.github.io). - Thanks to Nicklas Hansen, Yunhai Feng and colleagues for open sourcing TDMPC policy, Simxarm environments and datasets. Ours are adapted from [TDMPC](https://github.com/nicklashansen/tdmpc) and [FOWM](https://www.yunhaifeng.com/FOWM). -- Thanks to Vincent Moens and colleagues for open sourcing [TorchRL](https://github.com/pytorch/rl). It allowed for quick experimentations on the design of `LeRobot`. - Thanks to Antonio Loquercio and Ashish Kumar for their early support. From ced3de4c94f4fa1996246095d973de42c037fa29 Mon Sep 17 00:00:00 2001 From: Remi Date: Sat, 11 May 2024 19:28:22 +0300 Subject: [PATCH 3/7] Fix hanging in visualize_dataset.py when num_workers > 0 (#165) --- lerobot/scripts/visualize_dataset.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/lerobot/scripts/visualize_dataset.py b/lerobot/scripts/visualize_dataset.py index 1835e90c..d4fafe67 100644 --- a/lerobot/scripts/visualize_dataset.py +++ b/lerobot/scripts/visualize_dataset.py @@ -47,6 +47,7 @@ local$ rerun ws://localhost:9087 """ import argparse +import gc import logging import time from pathlib import Path @@ -115,15 +116,17 @@ def visualize_dataset( spawn_local_viewer = mode == "local" and not save rr.init(f"{repo_id}/episode_{episode_index}", spawn=spawn_local_viewer) + + # Manually call python garbage collector after `rr.init` to avoid hanging in a blocking flush + # when iterating on a dataloader with `num_workers` > 0 + # TODO(rcadene): remove `gc.collect` when rerun version 0.16 is out, which includes a fix + gc.collect() + if mode == "distant": rr.serve(open_browser=False, web_port=web_port, ws_port=ws_port) logging.info("Logging to Rerun") - if num_workers > 0: - # TODO(rcadene): fix data workers hanging when `rr.init` is called - logging.warning("If data loader is hanging, try `--num-workers 0`.") - for batch in tqdm.tqdm(dataloader, total=len(dataloader)): # iterate over the batch for i in range(len(batch["index"])): @@ -196,7 +199,7 @@ def main(): parser.add_argument( "--num-workers", type=int, - default=0, + default=4, help="Number of processes of Dataloader for loading the data.", ) parser.add_argument( From 29a196c5dd38bb526a232300c83bbcddd2851186 Mon Sep 17 00:00:00 2001 From: Simon Alibert <75076266+aliberts@users.noreply.github.com> Date: Sun, 12 May 2024 08:08:59 +0200 Subject: [PATCH 4/7] Fix #173 - Require gym-pusht to be installed for test_examples_3_and_2 (#174) --- .github/workflows/test.yml | 32 ++++++++++++++++++++++++++++++++ tests/test_examples.py | 3 +++ tests/utils.py | 19 ++++++++++++++++++- 3 files changed, 53 insertions(+), 1 deletion(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index f86e4f8e..45feabdc 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -57,6 +57,38 @@ jobs: && rm -rf tests/outputs outputs + pytest-minimal: + name: Pytest (minimal install) + runs-on: ubuntu-latest + env: + DATA_DIR: tests/data + MUJOCO_GL: egl + steps: + - uses: actions/checkout@v4 + + - name: Install poetry + run: | + pipx install poetry && poetry config virtualenvs.in-project true + echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH + + - name: Set up Python 3.10 + uses: actions/setup-python@v5 + with: + python-version: "3.10" + + - name: Install poetry dependencies + run: | + poetry install --extras "test" + + - name: Test with pytest + run: | + pytest tests -v --cov=./lerobot --durations=0 \ + -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \ + -W ignore::UserWarning:torch.utils.data.dataloader:558 \ + -W ignore::UserWarning:gymnasium.utils.env_checker:247 \ + && rm -rf tests/outputs outputs + + end-to-end: name: End-to-end runs-on: ubuntu-latest diff --git a/tests/test_examples.py b/tests/test_examples.py index c1f3c1dc..543eb022 100644 --- a/tests/test_examples.py +++ b/tests/test_examples.py @@ -3,6 +3,8 @@ import subprocess import sys from pathlib import Path +from tests.utils import require_package + def _find_and_replace(text: str, finds_and_replaces: list[tuple[str, str]]) -> str: for f, r in finds_and_replaces: @@ -21,6 +23,7 @@ def test_example_1(): assert Path("outputs/examples/1_load_lerobot_dataset/episode_0.mp4").exists() +@require_package("gym_pusht") def test_examples_3_and_2(): """ Train a model with example 3, check the outputs. diff --git a/tests/utils.py b/tests/utils.py index 6a706694..74e3ba8f 100644 --- a/tests/utils.py +++ b/tests/utils.py @@ -1,4 +1,5 @@ import platform +from functools import wraps import pytest import torch @@ -61,7 +62,6 @@ def require_env(func): Decorator that skips the test if the required environment package is not installed. As it need 'env_name' in args, it also checks whether it is provided as an argument. """ - from functools import wraps @wraps(func) def wrapper(*args, **kwargs): @@ -82,3 +82,20 @@ def require_env(func): return func(*args, **kwargs) return wrapper + + +def require_package(package_name): + """ + Decorator that skips the test if the specified package is not installed. + """ + + def decorator(func): + @wraps(func) + def wrapper(*args, **kwargs): + if not is_package_available(package_name): + pytest.skip(f"{package_name} not installed") + return func(*args, **kwargs) + + return wrapper + + return decorator From fc5cf3d84a33683bcb4c3c0491ef20d9ea4a2af1 Mon Sep 17 00:00:00 2001 From: AshisGhosh Date: Sat, 11 May 2024 23:13:12 -0700 Subject: [PATCH 5/7] Fixes issue #152 - error with creating wandb artifact (#172) Co-authored-by: Ashis Ghosh Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> --- lerobot/common/logger.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py index 7a3e6eac..ea8db050 100644 --- a/lerobot/common/logger.py +++ b/lerobot/common/logger.py @@ -82,9 +82,9 @@ class Logger: # Also save the full Hydra config for the env configuration. OmegaConf.save(self._cfg, save_dir / "config.yaml") if self._wandb and not self._disable_wandb_artifact: - # note wandb artifact does not accept ":" in its name + # note wandb artifact does not accept ":" or "/" in its name artifact = self._wandb.Artifact( - self._group.replace(":", "_") + "-" + str(self._seed) + "-" + str(identifier), + f"{self._group.replace(':', '_').replace('/', '_')}-{self._seed}-{identifier}", type="model", ) artifact.add_file(save_dir / SAFETENSORS_SINGLE_FILE) @@ -94,9 +94,10 @@ class Logger: self._buffer_dir.mkdir(parents=True, exist_ok=True) fp = self._buffer_dir / f"{str(identifier)}.pkl" buffer.save(fp) - if self._wandb: + if self._wandb and not self._disable_wandb_artifact: + # note wandb artifact does not accept ":" or "/" in its name artifact = self._wandb.Artifact( - self._group + "-" + str(self._seed) + "-" + str(identifier), + f"{self._group.replace(':', '_').replace('/', '_')}-{self._seed}-{identifier}", type="buffer", ) artifact.add_file(fp) From 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"tifffile" -version = "2024.5.3" +version = "2024.5.10" description = "Read and write TIFF files" optional = true python-versions = ">=3.9" files = [ - {file = "tifffile-2024.5.3-py3-none-any.whl", hash = "sha256:cac4d939156ff7f16d65fd689637808a7b5b3ad58f9c73327fc009b0aa32c7d5"}, - {file = "tifffile-2024.5.3.tar.gz", hash = "sha256:44521508ecc51ebaf0e47e9748913e9c7331a4e32fb571ff4dfc05cb8f4d8896"}, + {file = "tifffile-2024.5.10-py3-none-any.whl", hash = "sha256:4154f091aa24d4e75bfad9ab2d5424a68c70e67b8220188066dc61946d4551bd"}, + {file = "tifffile-2024.5.10.tar.gz", hash = "sha256:aa1e1b12be952ab20717d6848bd6d4a5ee88d2aa319f1152bff4354ad728ec86"}, ] [package.dependencies] @@ -4348,4 +4348,4 @@ xarm = ["gym-xarm"] [metadata] lock-version = "2.0" python-versions = ">=3.10,<3.13" -content-hash = "21dd1d7404ac774bd1139e8cda44ea8e3ed97c30e524f2ed862de431d3d5fa87" +content-hash = "2f0d2cbf4a2dec546e25b29b9b108ff1f97b4c278b718360b3f7f6a2bf9dcef8" diff --git a/pyproject.toml b/pyproject.toml index 56c84416..24d9452d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -54,7 +54,7 @@ pre-commit = {version = ">=3.7.0", optional = true} debugpy = {version = ">=1.8.1", optional = true} pytest = {version = ">=8.1.0", optional = true} pytest-cov = {version = ">=5.0.0", optional = true} -datasets = ">=2.19.0" +datasets = "^2.19.0" imagecodecs = { version = ">=2024.1.1", optional = true } pyav = ">=12.0.5" moviepy = ">=1.0.3" From f52f4f2cd2975686f8f8037d8396544712231475 Mon Sep 17 00:00:00 2001 From: Simon Alibert <75076266+aliberts@users.noreply.github.com> Date: Wed, 15 May 2024 12:13:09 +0200 Subject: [PATCH 7/7] Add copyrights (#157) --- lerobot/__init__.py | 15 +++++++++++++++ lerobot/__version__.py | 15 +++++++++++++++ .../_video_benchmark/run_video_benchmark.py | 15 +++++++++++++++ lerobot/common/datasets/factory.py | 15 +++++++++++++++ lerobot/common/datasets/lerobot_dataset.py | 15 +++++++++++++++ .../_diffusion_policy_replay_buffer.py | 15 +++++++++++++++ .../push_dataset_to_hub/_download_raw.py | 15 +++++++++++++++ .../_umi_imagecodecs_numcodecs.py | 15 +++++++++++++++ .../push_dataset_to_hub/aloha_hdf5_format.py | 15 +++++++++++++++ .../push_dataset_to_hub/compute_stats.py | 15 +++++++++++++++ .../push_dataset_to_hub/pusht_zarr_format.py | 15 +++++++++++++++ .../push_dataset_to_hub/umi_zarr_format.py | 15 +++++++++++++++ .../common/datasets/push_dataset_to_hub/utils.py | 15 +++++++++++++++ .../push_dataset_to_hub/xarm_pkl_format.py | 15 +++++++++++++++ lerobot/common/datasets/utils.py | 15 +++++++++++++++ lerobot/common/datasets/video_utils.py | 15 +++++++++++++++ lerobot/common/envs/factory.py | 15 +++++++++++++++ lerobot/common/envs/utils.py | 15 +++++++++++++++ lerobot/common/logger.py | 15 +++++++++++++++ lerobot/common/policies/act/configuration_act.py | 15 +++++++++++++++ lerobot/common/policies/act/modeling_act.py | 15 +++++++++++++++ .../diffusion/configuration_diffusion.py | 16 ++++++++++++++++ .../policies/diffusion/modeling_diffusion.py | 16 ++++++++++++++++ lerobot/common/policies/factory.py | 15 +++++++++++++++ lerobot/common/policies/normalize.py | 15 +++++++++++++++ lerobot/common/policies/policy_protocol.py | 15 +++++++++++++++ .../common/policies/tdmpc/configuration_tdmpc.py | 16 ++++++++++++++++ lerobot/common/policies/tdmpc/modeling_tdmpc.py | 16 ++++++++++++++++ lerobot/common/policies/utils.py | 15 +++++++++++++++ lerobot/common/utils/import_utils.py | 15 +++++++++++++++ lerobot/common/utils/io_utils.py | 15 +++++++++++++++ lerobot/common/utils/utils.py | 15 +++++++++++++++ lerobot/scripts/display_sys_info.py | 15 +++++++++++++++ lerobot/scripts/eval.py | 15 +++++++++++++++ lerobot/scripts/push_dataset_to_hub.py | 15 +++++++++++++++ lerobot/scripts/train.py | 15 +++++++++++++++ lerobot/scripts/visualize_dataset.py | 15 +++++++++++++++ tests/conftest.py | 15 +++++++++++++++ tests/scripts/save_dataset_to_safetensors.py | 15 +++++++++++++++ tests/scripts/save_policy_to_safetensor.py | 15 +++++++++++++++ tests/test_available.py | 15 +++++++++++++++ tests/test_datasets.py | 15 +++++++++++++++ tests/test_envs.py | 15 +++++++++++++++ tests/test_examples.py | 15 +++++++++++++++ tests/test_policies.py | 15 +++++++++++++++ tests/test_visualize_dataset.py | 15 +++++++++++++++ tests/utils.py | 15 +++++++++++++++ 47 files changed, 709 insertions(+) diff --git a/lerobot/__init__.py b/lerobot/__init__.py index 072f4bc7..e188bc52 100644 --- a/lerobot/__init__.py +++ b/lerobot/__init__.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ This file contains lists of available environments, dataset and policies to reflect the current state of LeRobot library. We do not want to import all the dependencies, but instead we keep it lightweight to ensure fast access to these variables. diff --git a/lerobot/__version__.py b/lerobot/__version__.py index 6232b699..d12aafaa 100644 --- a/lerobot/__version__.py +++ b/lerobot/__version__.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """To enable `lerobot.__version__`""" from importlib.metadata import PackageNotFoundError, version diff --git a/lerobot/common/datasets/_video_benchmark/run_video_benchmark.py b/lerobot/common/datasets/_video_benchmark/run_video_benchmark.py index 85d48fcf..8be251dc 100644 --- a/lerobot/common/datasets/_video_benchmark/run_video_benchmark.py +++ b/lerobot/common/datasets/_video_benchmark/run_video_benchmark.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import json import random import shutil diff --git a/lerobot/common/datasets/factory.py b/lerobot/common/datasets/factory.py index 22dd1789..78967db6 100644 --- a/lerobot/common/datasets/factory.py +++ b/lerobot/common/datasets/factory.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import logging import torch diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index f7bc5bd2..21d09879 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/lerobot/common/datasets/lerobot_dataset.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import os from pathlib import Path diff --git a/lerobot/common/datasets/push_dataset_to_hub/_diffusion_policy_replay_buffer.py b/lerobot/common/datasets/push_dataset_to_hub/_diffusion_policy_replay_buffer.py index 2f532650..33b4c974 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_diffusion_policy_replay_buffer.py +++ b/lerobot/common/datasets/push_dataset_to_hub/_diffusion_policy_replay_buffer.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Helper code for loading PushT dataset from Diffusion Policy (https://diffusion-policy.cs.columbia.edu/) Copied from the original Diffusion Policy repository and used in our `download_and_upload_dataset.py` script. diff --git a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py index d26f3d23..232fd055 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py +++ b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ This file contains all obsolete download scripts. They are centralized here to not have to load useless dependencies when using datasets. diff --git a/lerobot/common/datasets/push_dataset_to_hub/_umi_imagecodecs_numcodecs.py b/lerobot/common/datasets/push_dataset_to_hub/_umi_imagecodecs_numcodecs.py index 1561fb88..a118b7e7 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_umi_imagecodecs_numcodecs.py +++ b/lerobot/common/datasets/push_dataset_to_hub/_umi_imagecodecs_numcodecs.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. # imagecodecs/numcodecs.py # Copyright (c) 2021-2022, Christoph Gohlke diff --git a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py index f51a59cd..4efadc9e 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act """ diff --git a/lerobot/common/datasets/push_dataset_to_hub/compute_stats.py b/lerobot/common/datasets/push_dataset_to_hub/compute_stats.py index a7a952fb..ec296658 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/compute_stats.py +++ b/lerobot/common/datasets/push_dataset_to_hub/compute_stats.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from copy import deepcopy from math import ceil diff --git a/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py b/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py index 0c3a8d19..8133a36a 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Process zarr files formatted like in: https://github.com/real-stanford/diffusion_policy""" import shutil diff --git a/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py b/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py index 00828750..cab2bdc5 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Process UMI (Universal Manipulation Interface) data stored in Zarr format like in: https://github.com/real-stanford/universal_manipulation_interface""" import logging diff --git a/lerobot/common/datasets/push_dataset_to_hub/utils.py b/lerobot/common/datasets/push_dataset_to_hub/utils.py index 1b12c0b7..4feb1dcf 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/utils.py +++ b/lerobot/common/datasets/push_dataset_to_hub/utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from concurrent.futures import ThreadPoolExecutor from pathlib import Path diff --git a/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py b/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py index 686edf4c..899ebdde 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Process pickle files formatted like in: https://github.com/fyhMer/fowm""" import pickle diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py index 96b8fbbc..5cdd5f7c 100644 --- a/lerobot/common/datasets/utils.py +++ b/lerobot/common/datasets/utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import json from pathlib import Path diff --git a/lerobot/common/datasets/video_utils.py b/lerobot/common/datasets/video_utils.py index 0252be2e..edfca918 100644 --- a/lerobot/common/datasets/video_utils.py +++ b/lerobot/common/datasets/video_utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import logging import subprocess import warnings diff --git a/lerobot/common/envs/factory.py b/lerobot/common/envs/factory.py index c5fd4671..83f94cfe 100644 --- a/lerobot/common/envs/factory.py +++ b/lerobot/common/envs/factory.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import importlib import gymnasium as gym diff --git a/lerobot/common/envs/utils.py b/lerobot/common/envs/utils.py index 5370d385..8fce0369 100644 --- a/lerobot/common/envs/utils.py +++ b/lerobot/common/envs/utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import einops import numpy as np import torch diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py index ea8db050..109f6951 100644 --- a/lerobot/common/logger.py +++ b/lerobot/common/logger.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. # TODO(rcadene, alexander-soare): clean this file """Borrowed from https://github.com/fyhMer/fowm/blob/main/src/logger.py""" diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index a3980b14..95f443da 100644 --- a/lerobot/common/policies/act/configuration_act.py +++ b/lerobot/common/policies/act/configuration_act.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 Tony Z. Zhao and The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from dataclasses import dataclass, field diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index a795d87b..e85a3736 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 Tony Z. Zhao and The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Action Chunking Transformer Policy As per Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware (https://arxiv.org/abs/2304.13705). diff --git a/lerobot/common/policies/diffusion/configuration_diffusion.py b/lerobot/common/policies/diffusion/configuration_diffusion.py index 28a514ab..d0554942 100644 --- a/lerobot/common/policies/diffusion/configuration_diffusion.py +++ b/lerobot/common/policies/diffusion/configuration_diffusion.py @@ -1,3 +1,19 @@ +#!/usr/bin/env python + +# Copyright 2024 Columbia Artificial Intelligence, Robotics Lab, +# and The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from dataclasses import dataclass, field diff --git a/lerobot/common/policies/diffusion/modeling_diffusion.py b/lerobot/common/policies/diffusion/modeling_diffusion.py index 3115160f..c67040b6 100644 --- a/lerobot/common/policies/diffusion/modeling_diffusion.py +++ b/lerobot/common/policies/diffusion/modeling_diffusion.py @@ -1,3 +1,19 @@ +#!/usr/bin/env python + +# Copyright 2024 Columbia Artificial Intelligence, Robotics Lab, +# and The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Diffusion Policy as per "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion" TODO(alexander-soare): diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py index a819d18f..4c124b61 100644 --- a/lerobot/common/policies/factory.py +++ b/lerobot/common/policies/factory.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import inspect import logging diff --git a/lerobot/common/policies/normalize.py b/lerobot/common/policies/normalize.py index ab57c8ba..d638c541 100644 --- a/lerobot/common/policies/normalize.py +++ b/lerobot/common/policies/normalize.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import torch from torch import Tensor, nn diff --git a/lerobot/common/policies/policy_protocol.py b/lerobot/common/policies/policy_protocol.py index b00cff5c..38738a90 100644 --- a/lerobot/common/policies/policy_protocol.py +++ b/lerobot/common/policies/policy_protocol.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """A protocol that all policies should follow. This provides a mechanism for type-hinting and isinstance checks without requiring the policies classes diff --git a/lerobot/common/policies/tdmpc/configuration_tdmpc.py b/lerobot/common/policies/tdmpc/configuration_tdmpc.py index 00d00913..ddf52248 100644 --- a/lerobot/common/policies/tdmpc/configuration_tdmpc.py +++ b/lerobot/common/policies/tdmpc/configuration_tdmpc.py @@ -1,3 +1,19 @@ +#!/usr/bin/env python + +# Copyright 2024 Nicklas Hansen, Xiaolong Wang, Hao Su, +# and The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from dataclasses import dataclass, field diff --git a/lerobot/common/policies/tdmpc/modeling_tdmpc.py b/lerobot/common/policies/tdmpc/modeling_tdmpc.py index 1fba43d0..70e78c98 100644 --- a/lerobot/common/policies/tdmpc/modeling_tdmpc.py +++ b/lerobot/common/policies/tdmpc/modeling_tdmpc.py @@ -1,3 +1,19 @@ +#!/usr/bin/env python + +# Copyright 2024 Nicklas Hansen, Xiaolong Wang, Hao Su, +# and The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Implementation of Finetuning Offline World Models in the Real World. The comments in this code may sometimes refer to these references: diff --git a/lerobot/common/policies/utils.py b/lerobot/common/policies/utils.py index b23c1336..8f7b6eec 100644 --- a/lerobot/common/policies/utils.py +++ b/lerobot/common/policies/utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import torch from torch import nn diff --git a/lerobot/common/utils/import_utils.py b/lerobot/common/utils/import_utils.py index 642e0ff1..cd5f8245 100644 --- a/lerobot/common/utils/import_utils.py +++ b/lerobot/common/utils/import_utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import importlib import logging diff --git a/lerobot/common/utils/io_utils.py b/lerobot/common/utils/io_utils.py index 5d727bd7..b85f17c7 100644 --- a/lerobot/common/utils/io_utils.py +++ b/lerobot/common/utils/io_utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import warnings import imageio diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py index 8fe621f4..d62507b5 100644 --- a/lerobot/common/utils/utils.py +++ b/lerobot/common/utils/utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import logging import os.path as osp import random diff --git a/lerobot/scripts/display_sys_info.py b/lerobot/scripts/display_sys_info.py index e4ea4260..4d8b4850 100644 --- a/lerobot/scripts/display_sys_info.py +++ b/lerobot/scripts/display_sys_info.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import platform import huggingface_hub diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py index e4a9bfef..9c95633a 100644 --- a/lerobot/scripts/eval.py +++ b/lerobot/scripts/eval.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """Evaluate a policy on an environment by running rollouts and computing metrics. Usage examples: diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py index dfac410b..16d890a7 100644 --- a/lerobot/scripts/push_dataset_to_hub.py +++ b/lerobot/scripts/push_dataset_to_hub.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Use this script to convert your dataset into LeRobot dataset format and upload it to the Hugging Face hub, or store it locally. LeRobot dataset format is lightweight, fast to load from, and does not require any diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index 7319e03f..ab07695b 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import logging import time from copy import deepcopy diff --git a/lerobot/scripts/visualize_dataset.py b/lerobot/scripts/visualize_dataset.py index d4fafe67..58da6a47 100644 --- a/lerobot/scripts/visualize_dataset.py +++ b/lerobot/scripts/visualize_dataset.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ Visualize data of **all** frames of any episode of a dataset of type LeRobotDataset. Note: The last frame of the episode doesnt always correspond to a final state. diff --git a/tests/conftest.py b/tests/conftest.py index 856ca455..62f831aa 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. from .utils import DEVICE diff --git a/tests/scripts/save_dataset_to_safetensors.py b/tests/scripts/save_dataset_to_safetensors.py index 17cf2b38..554efe75 100644 --- a/tests/scripts/save_dataset_to_safetensors.py +++ b/tests/scripts/save_dataset_to_safetensors.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. """ This script provides a utility for saving a dataset as safetensors files for the purpose of testing backward compatibility when updating the data format. It uses the `PushtDataset` to create a DataLoader and saves selected frame from the diff --git a/tests/scripts/save_policy_to_safetensor.py b/tests/scripts/save_policy_to_safetensor.py index 29e9a34f..e79a94ff 100644 --- a/tests/scripts/save_policy_to_safetensor.py +++ b/tests/scripts/save_policy_to_safetensor.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import shutil from pathlib import Path diff --git a/tests/test_available.py b/tests/test_available.py index ead9296a..db5bd520 100644 --- a/tests/test_available.py +++ b/tests/test_available.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import importlib import gymnasium as gym diff --git a/tests/test_datasets.py b/tests/test_datasets.py index 1d93d48f..afea16a5 100644 --- a/tests/test_datasets.py +++ b/tests/test_datasets.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import json import logging from copy import deepcopy diff --git a/tests/test_envs.py b/tests/test_envs.py index f172a645..aec9999d 100644 --- a/tests/test_envs.py +++ b/tests/test_envs.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import importlib import gymnasium as gym diff --git a/tests/test_examples.py b/tests/test_examples.py index 543eb022..de95a991 100644 --- a/tests/test_examples.py +++ b/tests/test_examples.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. # TODO(aliberts): Mute logging for these tests import subprocess import sys diff --git a/tests/test_policies.py b/tests/test_policies.py index f0fa7c56..c8457854 100644 --- a/tests/test_policies.py +++ b/tests/test_policies.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import inspect from pathlib import Path diff --git a/tests/test_visualize_dataset.py b/tests/test_visualize_dataset.py index 0124afd3..99954040 100644 --- a/tests/test_visualize_dataset.py +++ b/tests/test_visualize_dataset.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import pytest from lerobot.scripts.visualize_dataset import visualize_dataset diff --git a/tests/utils.py b/tests/utils.py index 74e3ba8f..ba49ee70 100644 --- a/tests/utils.py +++ b/tests/utils.py @@ -1,3 +1,18 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import platform from functools import wraps