Merge remote-tracking branch 'upstream/main'

.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

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.
 
 

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.

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

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

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

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
 

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.

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.

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

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
 """

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
 

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

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

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
 

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

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
 

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

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

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

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"""
 
@@ -82,9 +97,9 @@ 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 +109,10 @@ 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)
@@ -114,6 +130,11 @@ 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"):

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
 
 

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).
@@ -101,7 +116,7 @@ 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 Dₖₗ(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 +125,7 @@ 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

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
 
 

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):

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
 

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
 

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
@@ -38,7 +53,8 @@ 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]):

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
 
 

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:

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
 

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
 

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

lerobot/common/utils/utils.py

@@ -1,8 +1,25 @@
+#!/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
+from contextlib import contextmanager
 from datetime import datetime
 from pathlib import Path
+from typing import Generator
 
 import hydra
 import numpy as np
@@ -39,6 +56,31 @@ def set_global_seed(seed):
     torch.cuda.manual_seed_all(seed)
 
 
+@contextmanager
+def seeded_context(seed: int) -> Generator[None, None, None]:
+    """Set the seed when entering a context, and restore the prior random state at exit.
+
+    Example usage:
+
+    ```
+    a = random.random()  # produces some random number
+    with seeded_context(1337):
+        b = random.random()  # produces some other random number
+    c = random.random()  # produces yet another random number, but the same it would have if we never made `b`
+    ```
+    """
+    random_state = random.getstate()
+    np_random_state = np.random.get_state()
+    torch_random_state = torch.random.get_rng_state()
+    torch_cuda_random_state = torch.cuda.random.get_rng_state()
+    set_global_seed(seed)
+    yield None
+    random.setstate(random_state)
+    np.random.set_state(np_random_state)
+    torch.random.set_rng_state(torch_random_state)
+    torch.cuda.random.set_rng_state(torch_cuda_random_state)
+
+
 def init_logging():
     def custom_format(record):
         dt = datetime.now().strftime("%Y-%m-%d %H:%M:%S")

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

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:

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

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
@@ -72,6 +87,7 @@ 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 +115,7 @@ 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 +139,7 @@ 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"]

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.
@@ -47,6 +62,7 @@ local$ rerun ws://localhost:9087
 """
 
 import argparse
+import gc
 import logging
 import time
 from pathlib import Path
@@ -115,15 +131,17 @@ 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 +214,7 @@ 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(

poetry.lock

@@ -2606,13 +2606,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "pre-commit"
-version = "3.7.0"
+version = "3.7.1"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = true
 python-versions = ">=3.9"
 files = [
-    {file = "pre_commit-3.7.0-py2.py3-none-any.whl", hash = "sha256:5eae9e10c2b5ac51577c3452ec0a490455c45a0533f7960f993a0d01e59decab"},
-    {file = "pre_commit-3.7.0.tar.gz", hash = "sha256:e209d61b8acdcf742404408531f0c37d49d2c734fd7cff2d6076083d191cb060"},
+    {file = "pre_commit-3.7.1-py2.py3-none-any.whl", hash = "sha256:fae36fd1d7ad7d6a5a1c0b0d5adb2ed1a3bda5a21bf6c3e5372073d7a11cd4c5"},
+    {file = "pre_commit-3.7.1.tar.gz", hash = "sha256:8ca3ad567bc78a4972a3f1a477e94a79d4597e8140a6e0b651c5e33899c3654a"},
 ]
 
 [package.dependencies]
@@ -2860,67 +2860,67 @@ files = [
 
 [[package]]
 name = "pymunk"
-version = "6.7.0"
+version = "6.8.0"
 description = "Pymunk is a easy-to-use pythonic 2D physics library"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "regex-2024.5.10.tar.gz", hash = "sha256:304e7e2418146ae4d0ef0e9ffa28f881f7874b45b4994cc2279b21b6e7ae50c8"},
 ]
 
 [[package]]
@@ -3803,13 +3803,13 @@ tests = ["pytest", "pytest-cov"]
 
 [[package]]
 name = "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"

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"

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
 
 

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

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
 

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

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

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

tests/test_examples.py

@@ -1,8 +1,25 @@
+#!/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
 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 +38,7 @@ 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.

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
 

tests/test_utils.py

@@ -0,0 +1,38 @@
+import random
+from typing import Callable
+
+import numpy as np
+import pytest
+import torch
+
+from lerobot.common.utils.utils import seeded_context, set_global_seed
+
+
+@pytest.mark.parametrize(
+    "rand_fn",
+    [
+        random.random,
+        np.random.random,
+        lambda: torch.rand(1).item(),
+    ]
+    + [lambda: torch.rand(1, device="cuda")]
+    if torch.cuda.is_available()
+    else [],
+)
+def test_seeding(rand_fn: Callable[[], int]):
+    set_global_seed(0)
+    a = rand_fn()
+    with seeded_context(1337):
+        c = rand_fn()
+    b = rand_fn()
+    set_global_seed(0)
+    a_ = rand_fn()
+    b_ = rand_fn()
+    # Check that `set_global_seed` lets us reproduce a and b.
+    assert a_ == a
+    # Additionally, check that the `seeded_context` didn't interrupt the global RNG.
+    assert b_ == b
+    set_global_seed(1337)
+    c_ = rand_fn()
+    # Check that `seeded_context` and `global_seed` give the same reproducibility.
+    assert c_ == c

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

tests/utils.py

@@ -1,4 +1,20 @@
+#!/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
 
 import pytest
 import torch
@@ -61,7 +77,6 @@ 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 +97,20 @@ 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