Updated version with a queue of action sequences, instead of queue of action

lerobot/common/policies/act/modeling_act.py

@@ -94,7 +94,9 @@ class ACTPolicy(
 
         # TODO(rcadene): Add delta timestamps in policy
         FPS = 10  # noqa: N806
-        self.delta_timestamps = [i / FPS for i in range(self.config.n_action_steps)]
+        self.delta_timestamps = {
+            "action": [i / FPS for i in range(self.config.n_action_steps)],
+        }
 
     def reset(self):
         """This should be called whenever the environment is reset."""
@@ -103,7 +105,11 @@ class ACTPolicy(
         else:
             # TODO(rcadene): set proper maxlen
             self._obs_queue = TemporalQueue(maxlen=1)
-            self._action_queue = TemporalQueue(maxlen=200)
+            self._action_seq_queue = TemporalQueue(maxlen=200)
+
+            self._action_sequence = None
+            self._action_seq_index = 0
+            self._action_seq_timestamp = None
 
     @torch.no_grad
     def inference(self, batch: dict[str, Tensor]) -> Tensor:
@@ -135,13 +141,20 @@ class ACTPolicy(
 
             if prev_timestamp is not None and prev_timestamp == last_timestamp:
                 # in case inference ran faster than recording/adding a new observation in the queue
+                # print("WAIT INFERENCE")
                 time.sleep(0.1)
                 continue
 
+            start_t = time.perf_counter()
+
             pred_action_sequence = self.inference(last_observation)
 
-            for action, delta_ts in zip(pred_action_sequence, self.delta_timestamps, strict=False):
+            dt_s = time.perf_counter() - start_t
-                self._action_queue.add(action, last_timestamp + delta_ts)
+            print(
+                f"Inference, {dt_s * 1000:5.2f} ({1/ dt_s:3.1f}hz) -- {last_timestamp}"
+            )  # , {next_action.mean().item()}")
+
+            self._action_seq_queue.add(pred_action_sequence, last_timestamp)
 
             prev_timestamp = last_timestamp
 
@@ -155,14 +168,47 @@ class ACTPolicy(
             self.thread.daemon = True
             self.thread.start()
 
-        next_action = None
+        while len(self._action_seq_queue) == 0:
-        while next_action is None:
+            # print("WAIT")
-            try:
+            time.sleep(0.1)  # no action available at this present time, we wait a bit
-                next_action = self._action_queue.get(present_time)
-            except ValueError:
-                time.sleep(0.1)  # no action available at this present time, we wait a bit
 
-        return next_action
+        latest_action_sequence, latest_seq_timestamp = self._action_seq_queue.get_latest()
+
+        if self._action_seq_index == len(self.delta_timestamps["action"]):
+            while self._action_seq_timestamp == latest_seq_timestamp:
+                latest_action_sequence, latest_seq_timestamp = self._action_seq_queue.get_latest()
+                # print("WAIT")
+                time.sleep(0.1)
+
+        if self._action_seq_timestamp is None:
+            self._action_sequence = latest_action_sequence
+            self._action_seq_timestamp = latest_seq_timestamp
+
+        elif self._action_seq_index == 100 and self._action_seq_timestamp < latest_seq_timestamp:
+            # update sequence index
+            seq_timestamps = self._action_seq_timestamp + np.array(self.delta_timestamps["action"])
+            if self._action_seq_index == len(self.delta_timestamps["action"]):
+                current_timestamp = seq_timestamps[-1]
+            else:
+                current_timestamp = seq_timestamps[self._action_seq_index]
+
+            latest_seq_timestamps = latest_seq_timestamp + np.array(self.delta_timestamps["action"])
+            distances = np.abs(latest_seq_timestamps - current_timestamp)
+            nearest_idx = distances.argmin()
+            # TODO(rcadene): handle edge cases
+            self._action_seq_index = nearest_idx
+
+            # update action sequence
+            self._action_sequence = latest_action_sequence
+            # update inference timestamp (when this action sequence has been computed)
+            self._action_seq_timestamp = latest_seq_timestamp
+
+        seq_timestamps = self._action_seq_timestamp + np.array(self.delta_timestamps["action"])
+        current_timestamp = seq_timestamps[self._action_seq_index]
+
+        action = self._action_sequence[:, self._action_seq_index]
+        self._action_seq_index += 1
+        return action, present_time, current_timestamp
 
     def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
         """Run the batch through the model and compute the loss for training or validation."""

lerobot/common/robot_devices/utils.py

@@ -1,19 +1,21 @@
-import platform
 import time
 
 
 def busy_wait(seconds):
-    if platform.system() == "Darwin":
+    # if platform.system() == "Darwin":
-        # On Mac, `time.sleep` is not accurate and we need to use this while loop trick,
+    #     # On Mac, `time.sleep` is not accurate and we need to use this while loop trick,
-        # but it consumes CPU cycles.
+    #     # but it consumes CPU cycles.
-        # TODO(rcadene): find an alternative: from python 11, time.sleep is precise
+    #     # TODO(rcadene): find an alternative: from python 11, time.sleep is precise
-        end_time = time.perf_counter() + seconds
+    #     end_time = time.perf_counter() + seconds
-        while time.perf_counter() < end_time:
+    #     while time.perf_counter() < end_time:
-            pass
+    #         pass
-    else:
+    # else:
-        # On Linux time.sleep is accurate
+    #     # On Linux time.sleep is accurate
-        if seconds > 0:
+    #     if seconds > 0:
-            time.sleep(seconds)
+    #         time.sleep(seconds)
+
+    if seconds > 0:
+        time.sleep(seconds)
 
 
 class RobotDeviceNotConnectedError(Exception):

test2.py

@@ -40,16 +40,19 @@ def main(env_name, policy_name, extra_overrides):
 
     fps = 30
 
-    for i in range(100):
+    for i in range(200):
         start_loop_t = time.perf_counter()
 
-        next_action, timestamp = policy.select_action(obs)
+        next_action, present_time, action_ts = policy.select_action(obs)
 
         dt_s = time.perf_counter() - start_loop_t
-        print(f"{i=}, {timestamp}, {dt_s * 1000:5.2f} ({1/ dt_s:3.1f}hz)")  # , {next_action.mean().item()}")
-
         busy_wait(1 / fps - dt_s)
 
+        dt_s = time.perf_counter() - start_loop_t
+        print(
+            f"{i=}, {dt_s * 1000:5.2f} ({1/ dt_s:3.1f}hz) \t{present_time}\t{action_ts}"
+        )  # , {next_action.mean().item()}")
+
         # time.sleep(1/30)  # frequency at which we receive a new observation (30 Hz = 0.03 s)
         # time.sleep(0.5)  # frequency at which we receive a new observation (5 Hz = 0.2 s)