Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_10_dataset_v2.1

.github/workflows/build-docker-images.yml

@@ -8,6 +8,8 @@ on:
   schedule:
     - cron: "0 1 * * *"
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -25,11 +27,14 @@ jobs:
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
         with:
           lfs: true
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3
@@ -60,11 +65,14 @@ jobs:
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
         with:
           lfs: true
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3
@@ -89,9 +97,13 @@ jobs:
     steps:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3

.github/workflows/nightly-tests.yml

@@ -7,6 +7,8 @@ on:
   schedule:
     - cron: "0 2 * * *"
 
+permissions: {}
+
 # env:
   # SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
 jobs:

.github/workflows/quality.yml

@@ -8,6 +8,8 @@ on:
     branches:
       - main
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -17,7 +19,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Set up Python
         uses: actions/setup-python@v4
@@ -45,7 +49,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Install poetry
         run: pipx install "poetry<2.0.0"
@@ -59,7 +65,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Install poetry
         run: pipx install "poetry<2.0.0"

.github/workflows/test-docker-build.yml

@@ -8,6 +8,8 @@ on:
       # Run only when DockerFile files are modified
       - "docker/**"
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -20,6 +22,8 @@ jobs:
     steps:
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Get changed files
         id: changed-files
@@ -34,7 +38,7 @@ jobs:
         env:
           ALL_CHANGED_FILES: ${{ steps.changed-files.outputs.all_changed_files }}
         run: |
-          echo "matrix=${{ steps.changed-files.outputs.all_changed_files}}" >> $GITHUB_OUTPUT
+          echo "matrix=${ALL_CHANGED_FILES}" >> $GITHUB_OUTPUT
 
 
   build_modified_dockerfiles:
@@ -50,9 +54,13 @@ jobs:
     steps:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Build Docker image
         uses: docker/build-push-action@v5

.github/workflows/test.yml

@@ -22,6 +22,8 @@ on:
       - "Makefile"
       - ".cache/**"
 
+permissions: {}
+
 jobs:
   pytest:
     name: Pytest
@@ -32,6 +34,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
       # portaudio19-dev is needed to install pyaudio
@@ -72,6 +75,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
         run: sudo apt-get update && sudo apt-get install -y ffmpeg
@@ -108,6 +112,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
       # portaudio19-dev is needed to install pyaudio

.github/workflows/trufflehog.yml

@@ -3,8 +3,7 @@ on:
 
 name: Secret Leaks
 
-permissions:
+permissions: {}
-  contents: read
 
 jobs:
   trufflehog:
@@ -14,6 +13,8 @@ jobs:
       uses: actions/checkout@v4
       with:
         fetch-depth: 0
+        persist-credentials: false
+
     - name: Secret Scanning
       uses: trufflesecurity/trufflehog@main
       with:

.pre-commit-config.yaml

@@ -14,17 +14,17 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.19.0
+    rev: v3.19.1
     hooks:
     -   id: pyupgrade
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.8.2
+    rev: v0.9.6
     hooks:
       - id: ruff
         args: [--fix]
       - id: ruff-format
   - repo: https://github.com/python-poetry/poetry
-    rev: 1.8.0
+    rev: 1.8.5
     hooks:
       - id: poetry-check
       - id: poetry-lock
@@ -32,6 +32,10 @@ repos:
           - "--check"
           - "--no-update"
   - repo: https://github.com/gitleaks/gitleaks
-    rev: v8.21.2
+    rev: v8.23.3
     hooks:
       - id: gitleaks
+  - repo: https://github.com/woodruffw/zizmor-pre-commit
+    rev: v1.3.1
+    hooks:
+      - id: zizmor

lerobot/common/policies/act/modeling_act.py

@@ -409,9 +409,9 @@ class ACT(nn.Module):
             latent dimension.
         """
         if self.config.use_vae and self.training:
-            assert (
+            assert "action" in batch, (
-                "action" in batch
+                "actions must be provided when using the variational objective in training mode."
-            ), "actions must be provided when using the variational objective in training mode."
+            )
 
         batch_size = (
             batch["observation.images"]

lerobot/common/policies/diffusion/configuration_diffusion.py

@@ -221,7 +221,7 @@ class DiffusionConfig(PreTrainedConfig):
         for key, image_ft in self.image_features.items():
             if image_ft.shape != first_image_ft.shape:
                 raise ValueError(
-                    f"`{key}` does not match `{first_image_key}`, but we " "expect all image shapes to match."
+                    f"`{key}` does not match `{first_image_key}`, but we expect all image shapes to match."
                 )
 
     @property

lerobot/common/policies/pi0/modeling_pi0.py

@@ -300,7 +300,7 @@ class PI0Policy(PreTrainedPolicy):
             self._action_queue.extend(actions.transpose(0, 1))
         return self._action_queue.popleft()
 
-    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str, Tensor]:
+    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> tuple[Tensor, dict[str, Tensor]]:
         """Do a full training forward pass to compute the loss"""
         if self.config.adapt_to_pi_aloha:
             batch[OBS_ROBOT] = self._pi_aloha_decode_state(batch[OBS_ROBOT])
@@ -328,12 +328,12 @@ class PI0Policy(PreTrainedPolicy):
         losses = losses[:, :, : self.config.max_action_dim]
         loss_dict["losses_after_rm_padding"] = losses.clone()
 
-        loss = losses.mean()
         # For backward pass
-        loss_dict["loss"] = loss
+        loss = losses.mean()
         # For logging
         loss_dict["l2_loss"] = loss.item()
-        return loss_dict
+
+        return loss, loss_dict
 
     def prepare_images(self, batch):
         """Apply Pi0 preprocessing to the images, like resizing to 224x224 and padding to keep aspect ratio, and

lerobot/common/policies/tdmpc/modeling_tdmpc.py

@@ -594,9 +594,9 @@ class TDMPCTOLD(nn.Module):
 
         self.apply(_apply_fn)
         for m in [self._reward, *self._Qs]:
-            assert isinstance(
+            assert isinstance(m[-1], nn.Linear), (
-                m[-1], nn.Linear
+                "Sanity check. The last linear layer needs 0 initialization on weights."
-            ), "Sanity check. The last linear layer needs 0 initialization on weights."
+            )
             nn.init.zeros_(m[-1].weight)
             nn.init.zeros_(m[-1].bias)  # this has already been done, but keep this line here for good measure
 

lerobot/common/policies/vqbet/configuration_vqbet.py

@@ -184,7 +184,7 @@ class VQBeTConfig(PreTrainedConfig):
         for key, image_ft in self.image_features.items():
             if image_ft.shape != first_image_ft.shape:
                 raise ValueError(
-                    f"`{key}` does not match `{first_image_key}`, but we " "expect all image shapes to match."
+                    f"`{key}` does not match `{first_image_key}`, but we expect all image shapes to match."
                 )
 
     @property

lerobot/common/policies/vqbet/vqbet_utils.py

@@ -203,9 +203,9 @@ class GPT(nn.Module):
     def forward(self, input, targets=None):
         device = input.device
         b, t, d = input.size()
-        assert (
+        assert t <= self.config.gpt_block_size, (
-            t <= self.config.gpt_block_size
+            f"Cannot forward sequence of length {t}, block size is only {self.config.gpt_block_size}"
-        ), f"Cannot forward sequence of length {t}, block size is only {self.config.gpt_block_size}"
+        )
 
         # positional encodings that are added to the input embeddings
         pos = torch.arange(0, t, dtype=torch.long, device=device).unsqueeze(0)  # shape (1, t)
@@ -273,11 +273,11 @@ class GPT(nn.Module):
         assert len(inter_params) == 0, "parameters {} made it into both decay/no_decay sets!".format(
             str(inter_params)
         )
-        assert (
+        assert len(param_dict.keys() - union_params) == 0, (
-            len(param_dict.keys() - union_params) == 0
+            "parameters {} were not separated into either decay/no_decay set!".format(
-        ), "parameters {} were not separated into either decay/no_decay set!".format(
                 str(param_dict.keys() - union_params),
             )
+        )
 
         decay = [param_dict[pn] for pn in sorted(decay)]
         no_decay = [param_dict[pn] for pn in sorted(no_decay)]
@@ -419,9 +419,9 @@ class ResidualVQ(nn.Module):
         # and the network should be able to reconstruct
 
         if quantize_dim < self.num_quantizers:
-            assert (
+            assert self.quantize_dropout > 0.0, (
-                self.quantize_dropout > 0.0
+                "quantize dropout must be greater than 0 if you wish to reconstruct from a signal with less fine quantizations"
-            ), "quantize dropout must be greater than 0 if you wish to reconstruct from a signal with less fine quantizations"
+            )
             indices = F.pad(indices, (0, self.num_quantizers - quantize_dim), value=-1)
 
         # get ready for gathering
@@ -472,9 +472,9 @@ class ResidualVQ(nn.Module):
         all_indices = []
 
         if return_loss:
-            assert not torch.any(
+            assert not torch.any(indices == -1), (
-                indices == -1
+                "some of the residual vq indices were dropped out. please use indices derived when the module is in eval mode to derive cross entropy loss"
-            ), "some of the residual vq indices were dropped out. please use indices derived when the module is in eval mode to derive cross entropy loss"
+            )
             ce_losses = []
 
         should_quantize_dropout = self.training and self.quantize_dropout and not return_loss
@@ -887,9 +887,9 @@ class VectorQuantize(nn.Module):
                 # only calculate orthogonal loss for the activated codes for this batch
 
                 if self.orthogonal_reg_active_codes_only:
-                    assert not (
+                    assert not (is_multiheaded and self.separate_codebook_per_head), (
-                        is_multiheaded and self.separate_codebook_per_head
+                        "orthogonal regularization for only active codes not compatible with multi-headed with separate codebooks yet"
-                    ), "orthogonal regularization for only active codes not compatible with multi-headed with separate codebooks yet"
+                    )
                     unique_code_ids = torch.unique(embed_ind)
                     codebook = codebook[:, unique_code_ids]
 
@@ -999,9 +999,9 @@ def gumbel_sample(
     ind = sampling_logits.argmax(dim=dim)
     one_hot = F.one_hot(ind, size).type(dtype)
 
-    assert not (
+    assert not (reinmax and not straight_through), (
-        reinmax and not straight_through
+        "reinmax can only be turned on if using straight through gumbel softmax"
-    ), "reinmax can only be turned on if using straight through gumbel softmax"
+    )
 
     if not straight_through or temperature <= 0.0 or not training:
         return ind, one_hot
@@ -1209,9 +1209,9 @@ class EuclideanCodebook(nn.Module):
         self.gumbel_sample = gumbel_sample
         self.sample_codebook_temp = sample_codebook_temp
 
-        assert not (
+        assert not (use_ddp and num_codebooks > 1 and kmeans_init), (
-            use_ddp and num_codebooks > 1 and kmeans_init
+            "kmeans init is not compatible with multiple codebooks in distributed environment for now"
-        ), "kmeans init is not compatible with multiple codebooks in distributed environment for now"
+        )
 
         self.sample_fn = sample_vectors_distributed if use_ddp and sync_kmeans else batched_sample_vectors
         self.kmeans_all_reduce_fn = distributed.all_reduce if use_ddp and sync_kmeans else noop

lerobot/common/utils/io_utils.py

@@ -58,7 +58,7 @@ def deserialize_json_into_object(fpath: Path, obj: T) -> T:
             # Check that they have exactly the same set of keys.
             if target.keys() != source.keys():
                 raise ValueError(
-                    f"Dictionary keys do not match.\n" f"Expected: {target.keys()}, got: {source.keys()}"
+                    f"Dictionary keys do not match.\nExpected: {target.keys()}, got: {source.keys()}"
                 )
 
             # Recursively update each key.

lerobot/common/utils/wandb_utils.py

@@ -102,7 +102,7 @@ class WandBLogger:
         self._wandb.log_artifact(artifact)
 
     def log_dict(self, d: dict, step: int, mode: str = "train"):
-        if mode in {"train", "eval"}:
+        if mode not in {"train", "eval"}:
             raise ValueError(mode)
 
         for k, v in d.items():
@@ -114,7 +114,7 @@ class WandBLogger:
             self._wandb.log({f"{mode}/{k}": v}, step=step)
 
     def log_video(self, video_path: str, step: int, mode: str = "train"):
-        if mode in {"train", "eval"}:
+        if mode not in {"train", "eval"}:
             raise ValueError(mode)
 
         wandb_video = self._wandb.Video(video_path, fps=self.env_fps, format="mp4")

lerobot/configs/train.py

@@ -85,6 +85,11 @@ class TrainPipelineConfig(HubMixin):
             config_path = parser.parse_arg("config_path")
             if not config_path:
                 raise ValueError("A config_path is expected when resuming a run.")
+            if not Path(config_path).resolve().exists():
+                raise NotADirectoryError(
+                    f"{config_path=} is expected to be a local path. "
+                    "Resuming from the hub is not supported for now."
+                )
             policy_path = Path(config_path).parent
             self.policy.pretrained_path = policy_path
             self.checkpoint_path = policy_path.parent

lerobot/scripts/eval.py

@@ -151,7 +151,9 @@ def rollout(
         if return_observations:
             all_observations.append(deepcopy(observation))
 
-        observation = {key: observation[key].to(device, non_blocking=True) for key in observation}
+        observation = {
+            key: observation[key].to(device, non_blocking=device.type == "cuda") for key in observation
+        }
 
         with torch.inference_mode():
             action = policy.select_action(observation)

lerobot/scripts/train.py

@@ -232,8 +232,10 @@ def train(cfg: TrainPipelineConfig):
         if is_log_step:
             logging.info(train_tracker)
             if wandb_logger:
-                wandb_log_dict = {**train_tracker.to_dict(), **output_dict}
+                wandb_log_dict = train_tracker.to_dict()
-                wandb_logger.log_dict(wandb_log_dict)
+                if output_dict:
+                    wandb_log_dict.update(output_dict)
+                wandb_logger.log_dict(wandb_log_dict, step)
             train_tracker.reset_averages()
 
         if cfg.save_checkpoint and is_saving_step:
@@ -271,6 +273,7 @@ def train(cfg: TrainPipelineConfig):
             logging.info(eval_tracker)
             if wandb_logger:
                 wandb_log_dict = {**eval_tracker.to_dict(), **eval_info}
+                wandb_logger.log_dict(wandb_log_dict, step, mode="eval")
                 wandb_logger.log_video(eval_info["video_paths"][0], step, mode="eval")
 
     if eval_env:

lerobot/scripts/visualize_dataset.py

@@ -111,9 +111,9 @@ def visualize_dataset(
     output_dir: Path | None = None,
 ) -> Path | None:
     if save:
-        assert (
+        assert output_dir is not None, (
-            output_dir is not None
+            "Set an output directory where to write .rrd files with `--output-dir path/to/directory`."
-        ), "Set an output directory where to write .rrd files with `--output-dir path/to/directory`."
+        )
 
     repo_id = dataset.repo_id
 

tests/test_datasets.py

@@ -519,9 +519,9 @@ def test_backward_compatibility(repo_id):
         assert new_keys == old_keys, f"{new_keys=} and {old_keys=} are not the same"
 
         for key in new_frame:
-            assert torch.isclose(
+            assert torch.isclose(new_frame[key], old_frame[key]).all(), (
-                new_frame[key], old_frame[key]
+                f"{key=} for index={i} does not contain the same value"
-            ).all(), f"{key=} for index={i} does not contain the same value"
+            )
 
     # test2 first frames of first episode
     i = dataset.episode_data_index["from"][0].item()

tests/test_image_transforms.py

@@ -343,13 +343,13 @@ def test_save_all_transforms(img_tensor_factory, tmp_path):
     # Check if the combined transforms directory exists and contains the right files
     combined_transforms_dir = tmp_path / "all"
     assert combined_transforms_dir.exists(), "Combined transforms directory was not created."
-    assert any(
+    assert any(combined_transforms_dir.iterdir()), (
-        combined_transforms_dir.iterdir()
+        "No transformed images found in combined transforms directory."
-    ), "No transformed images found in combined transforms directory."
+    )
     for i in range(1, n_examples + 1):
-        assert (
+        assert (combined_transforms_dir / f"{i}.png").exists(), (
-            combined_transforms_dir / f"{i}.png"
+            f"Combined transform image {i}.png was not found."
-        ).exists(), f"Combined transform image {i}.png was not found."
+        )
 
 
 def test_save_each_transform(img_tensor_factory, tmp_path):
@@ -369,6 +369,6 @@ def test_save_each_transform(img_tensor_factory, tmp_path):
         # Check for specific files within each transform directory
         expected_files = [f"{i}.png" for i in range(1, n_examples + 1)] + ["min.png", "max.png", "mean.png"]
         for file_name in expected_files:
-            assert (
+            assert (transform_dir / file_name).exists(), (
-                transform_dir / file_name
+                f"{file_name} was not found in {transform} directory."
-            ).exists(), f"{file_name} was not found in {transform} directory."
+            )

tests/test_online_buffer.py

@@ -132,9 +132,9 @@ def test_fifo():
     buffer.add_data(new_data)
     n_more_episodes = 2
     # Developer sanity check (in case someone changes the global `buffer_capacity`).
-    assert (
+    assert (n_episodes + n_more_episodes) * n_frames_per_episode > buffer_capacity, (
-        n_episodes + n_more_episodes
+        "Something went wrong with the test code."
-    ) * n_frames_per_episode > buffer_capacity, "Something went wrong with the test code."
+    )
     more_new_data = make_spoof_data_frames(n_more_episodes, n_frames_per_episode)
     buffer.add_data(more_new_data)
     assert len(buffer) == buffer_capacity, "The buffer should be full."
@@ -203,9 +203,9 @@ def test_delta_timestamps_outside_tolerance_outside_episode_range():
     item = buffer[2]
     data, is_pad = item["index"], item["index_is_pad"]
     assert torch.equal(data, torch.tensor([0, 0, 2, 4, 4])), "Data does not match expected values"
-    assert torch.equal(
+    assert torch.equal(is_pad, torch.tensor([True, False, False, True, True])), (
-        is_pad, torch.tensor([True, False, False, True, True])
+        "Padding does not match expected values"
-    ), "Padding does not match expected values"
+    )
 
 
 # Arbitrarily set small dataset sizes, making sure to have uneven sizes.

tests/test_policies.py

@@ -193,12 +193,12 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
     observation_ = deepcopy(observation)
     with torch.inference_mode():
         action = policy.select_action(observation).cpu().numpy()
-    assert set(observation) == set(
+    assert set(observation) == set(observation_), (
-        observation_
+        "Observation batch keys are not the same after a forward pass."
-    ), "Observation batch keys are not the same after a forward pass."
+    )
-    assert all(
+    assert all(torch.equal(observation[k], observation_[k]) for k in observation), (
-        torch.equal(observation[k], observation_[k]) for k in observation
+        "Observation batch values are not the same after a forward pass."
-    ), "Observation batch values are not the same after a forward pass."
+    )
 
     # Test step through policy
     env.step(action)