Merge branch 'huggingface:main' into 2024_05_30_add_data_augmentation

examples/4_train_policy_with_script.md

@@ -70,7 +70,7 @@ python lerobot/scripts/train.py policy=act env=aloha
 
 There are two things to note here:
 - Config overrides are passed as `param_name=param_value`.
-- Here we have overridden the defaults section. `policy=act` tells Hydra to use `policy/act.yaml`, and `env=aloha` tells Hydra to use `env/pusht.yaml`.
+- Here we have overridden the defaults section. `policy=act` tells Hydra to use `policy/act.yaml`, and `env=aloha` tells Hydra to use `env/aloha.yaml`.
 
 _As an aside: we've set up all of our configurations so that they reproduce state-of-the-art results from papers in the literature._
 

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -239,10 +239,8 @@ class DiffusionModel(nn.Module):
         global_cond = torch.cat([batch["observation.state"], img_features], dim=-1).flatten(start_dim=1)
 
         # run sampling
-        sample = self.conditional_sample(batch_size, global_cond=global_cond)
+        actions = self.conditional_sample(batch_size, global_cond=global_cond)
 
-        # `horizon` steps worth of actions (from the first observation).
-        actions = sample[..., : self.config.output_shapes["action"][0]]
         # Extract `n_action_steps` steps worth of actions (from the current observation).
         start = n_obs_steps - 1
         end = start + self.config.n_action_steps

lerobot/common/policies/normalize.py

@@ -147,7 +147,7 @@ class Normalize(nn.Module):
                 assert not torch.isinf(min).any(), _no_stats_error_str("min")
                 assert not torch.isinf(max).any(), _no_stats_error_str("max")
                 # normalize to [0,1]
-                batch[key] = (batch[key] - min) / (max - min)
+                batch[key] = (batch[key] - min) / (max - min + 1e-8)
                 # normalize to [-1, 1]
                 batch[key] = batch[key] * 2 - 1
             else:

lerobot/scripts/visualize_dataset.py

@@ -224,7 +224,8 @@ def main():
         help=(
             "Mode of viewing between 'local' or 'distant'. "
             "'local' requires data to be on a local machine. It spawns a viewer to visualize the data locally. "
-            "'distant' creates a server on the distant machine where the data is stored. Visualize the data by connecting to the server with `rerun ws://localhost:PORT` on the local machine."
+            "'distant' creates a server on the distant machine where the data is stored. "
+            "Visualize the data by connecting to the server with `rerun ws://localhost:PORT` on the local machine."
         ),
     )
     parser.add_argument(
@@ -245,8 +246,8 @@ def main():
         default=0,
         help=(
             "Save a .rrd file in the directory provided by `--output-dir`. "
-            "It also deactivates the spawning of a viewer. ",
+            "It also deactivates the spawning of a viewer. "
-            "Visualize the data by running `rerun path/to/file.rrd` on your local machine.",
+            "Visualize the data by running `rerun path/to/file.rrd` on your local machine."
         ),
     )
     parser.add_argument(