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lerobot
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Merge branch 'main' into aloha_hd5_to_dataset_v2

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Claudio Coppola 2025-02-24 12:29:28 +00:00 committed by GitHub
parent f7b84fa2cd fe483b1d0d
commit dca5c22f9c
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34 changed files with 280 additions and 8191 deletions
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12
.github/workflows/build-docker-images.yml vendored
View File

@ -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

2
.github/workflows/nightly-tests.yml vendored
View File

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

50
.github/workflows/quality.yml vendored
View File

@ -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
@ -34,49 +38,7 @@ jobs:
run: python -m pip install "ruff==${{ env.RUFF_VERSION }}"
- name: Ruff check
run: ruff check
run: ruff check --output-format=github
- name: Ruff format
run: ruff format --diff
poetry_check:
name: Poetry check
runs-on: ubuntu-latest
steps:
- name: Checkout Repository
uses: actions/checkout@v3
- name: Install poetry
run: pipx install "poetry<2.0.0"
- name: Poetry check
run: poetry check
poetry_relax:
name: Poetry relax
runs-on: ubuntu-latest
steps:
- name: Checkout Repository
uses: actions/checkout@v3
- name: Install poetry
run: pipx install "poetry<2.0.0"
- name: Install poetry-relax
run: poetry self add poetry-relax
- name: Poetry relax
id: poetry_relax
run: |
output=$(poetry relax --check 2>&1)
if echo "$output" | grep -q "Proposing updates"; then
echo "$output"
echo ""
echo "Some dependencies have caret '^' version requirement added by poetry by default."
echo "Please replace them with '>='. You can do this by hand or use poetry-relax to do this."
exit 1
else
echo "$output"
fi

13
.github/workflows/test-docker-build.yml vendored
View File

@ -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
@ -28,15 +32,12 @@ jobs:
files: docker/**
json: "true"
- name: Run step if only the files listed above change
- name: Run step if only the files listed above change # zizmor: ignore[template-injection]
if: steps.changed-files.outputs.any_changed == 'true'
id: set-matrix
env:
ALL_CHANGED_FILES: ${{ steps.changed-files.outputs.all_changed_files }}
run: |
echo "matrix=${{ steps.changed-files.outputs.all_changed_files}}" >> $GITHUB_OUTPUT
build_modified_dockerfiles:
name: Build modified Docker images
needs: get_changed_files
@ -50,9 +51,13 @@ 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

74
.github/workflows/test.yml vendored
View File

@ -7,7 +7,8 @@ on:
- "tests/**"
- "examples/**"
- ".github/**"
- "poetry.lock"
- "pyproject.toml"
- ".pre-commit-config.yaml"
- "Makefile"
- ".cache/**"
push:
@ -18,10 +19,16 @@ on:
- "tests/**"
- "examples/**"
- ".github/**"
- "poetry.lock"
- "pyproject.toml"
- ".pre-commit-config.yaml"
- "Makefile"
- ".cache/**"
permissions: {}
env:
UV_VERSION: "0.6.0"
jobs:
pytest:
name: Pytest
@ -32,6 +39,7 @@ 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
@ -39,25 +47,19 @@ jobs:
sudo apt-get update && \
sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
- name: Install poetry
run: |
pipx install poetry && poetry config virtualenvs.in-project true
echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
# TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
- name: Set up Python 3.10
uses: actions/setup-python@v5
- name: Install uv and python
uses: astral-sh/setup-uv@v5
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
cache: "poetry"
- name: Install poetry dependencies
run: |
poetry install --all-extras
- name: Install lerobot (all extras)
run: uv sync --all-extras
- name: Test with pytest
run: |
pytest tests -v --cov=./lerobot --durations=0 \
uv run pytest tests -v --cov=./lerobot --durations=0 \
-W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
-W ignore::UserWarning:torch.utils.data.dataloader:558 \
-W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@ -72,28 +74,24 @@ jobs:
- uses: actions/checkout@v4
with:
lfs: true # Ensure LFS files are pulled
persist-credentials: false
- name: Install apt dependencies
run: sudo apt-get update && sudo apt-get install -y ffmpeg
- name: Install poetry
run: |
pipx install poetry && poetry config virtualenvs.in-project true
echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
# TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
- name: Set up Python 3.10
uses: actions/setup-python@v5
- name: Install uv and python
uses: astral-sh/setup-uv@v5
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
- name: Install poetry dependencies
run: |
poetry install --extras "test"
- name: Install lerobot
run: uv sync --extra "test"
- name: Test with pytest
run: |
pytest tests -v --cov=./lerobot --durations=0 \
uv run pytest tests -v --cov=./lerobot --durations=0 \
-W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
-W ignore::UserWarning:torch.utils.data.dataloader:558 \
-W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@ -108,6 +106,7 @@ jobs:
- uses: actions/checkout@v4
with:
lfs: true # Ensure LFS files are pulled
persist-credentials: false
- name: Install apt dependencies
# portaudio19-dev is needed to install pyaudio
@ -115,20 +114,21 @@ jobs:
sudo apt-get update && \
sudo apt-get install -y libegl1-mesa-dev portaudio19-dev
- name: Install poetry
run: |
pipx install poetry && poetry config virtualenvs.in-project true
echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
- name: Set up Python 3.10
uses: actions/setup-python@v5
- name: Install uv and python
uses: astral-sh/setup-uv@v5
with:
enable-cache: true
version: ${{ env.UV_VERSION }}
python-version: "3.10"
cache: "poetry"
- name: Install poetry dependencies
- name: Install lerobot (all extras)
run: |
poetry install --all-extras
uv venv
uv sync --all-extras
- name: venv
run: |
echo "PYTHON_PATH=${{ github.workspace }}/.venv/bin/python" >> $GITHUB_ENV
- name: Test end-to-end
run: |

5
.github/workflows/trufflehog.yml vendored
View File

@ -3,8 +3,7 @@ on:
name: Secret Leaks
permissions:
contents: read
permissions: {}
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:

4
.gitignore vendored
View File

@ -49,6 +49,10 @@ share/python-wheels/
*.egg
MANIFEST
# uv/poetry lock files
poetry.lock
uv.lock
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.

18
.pre-commit-config.yaml
View File

@ -14,24 +14,20 @@ 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
hooks:
- id: poetry-check
- id: poetry-lock
args:
- "--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

49
CONTRIBUTING.md
View File

@ -129,38 +129,71 @@ Follow these steps to start contributing:
🚨 **Do not** work on the `main` branch.
4. for development, we use `poetry` instead of just `pip` to easily track our dependencies.
If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
4. for development, we advise to use a tool like `poetry` or `uv` instead of just `pip` to easily track our dependencies.
Follow the instructions to [install poetry](https://python-poetry.org/docs/#installation) (use a version >=2.1.0) or to [install uv](https://docs.astral.sh/uv/getting-started/installation/#installation-methods) if you don't have one of them already.
Set up a development environment with conda or miniconda:
```bash
conda create -y -n lerobot-dev python=3.10 && conda activate lerobot-dev
```
To develop on 🤗 LeRobot, you will at least need to install the `dev` and `test` extras dependencies along with the core library:
If you're using `uv`, it can manage python versions so you can instead do:
```bash
poetry install --sync --extras "dev test"
uv venv --python 3.10 && source .venv/bin/activate
```
To develop on 🤗 LeRobot, you will at least need to install the `dev` and `test` extras dependencies along with the core library:
using `poetry`
```bash
poetry sync --extras "dev test"
```
using `uv`
```bash
uv sync --extra dev --extra test
```
You can also install the project with all its dependencies (including environments):
using `poetry`
```bash
poetry install --sync --all-extras
poetry sync --all-extras
```
using `uv`
```bash
uv sync --all-extras
```
> **Note:** If you don't install simulation environments with `--all-extras`, the tests that require them will be skipped when running the pytest suite locally. However, they *will* be tested in the CI. In general, we advise you to install everything and test locally before pushing.
Whichever command you chose to install the project (e.g. `poetry install --sync --all-extras`), you should run it again when pulling code with an updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the new dependencies.
Whichever command you chose to install the project (e.g. `poetry sync --all-extras`), you should run it again when pulling code with an updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the new dependencies.
The equivalent of `pip install some-package`, would just be:
using `poetry`
```bash
poetry add some-package
```
When making changes to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
using `uv`
```bash
poetry lock --no-update
uv add some-package
```
When making changes to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
using `poetry`
```bash
poetry lock
```
using `uv`
```bash
uv lock
```
5. Develop the features on your branch.
As you work on the features, you should make sure that the test suite

8
Makefile
View File

@ -2,10 +2,10 @@
PYTHON_PATH := $(shell which python)
# If Poetry is installed, redefine PYTHON_PATH to use the Poetry-managed Python
POETRY_CHECK := $(shell command -v poetry)
ifneq ($(POETRY_CHECK),)
PYTHON_PATH := $(shell poetry run which python)
# If uv is installed and a virtual environment exists, use it
UV_CHECK := $(shell command -v uv)
ifneq ($(UV_CHECK),)
PYTHON_PATH := $(shell .venv/bin/python)
endif
export PATH := $(dir $(PYTHON_PATH)):$(PATH)

2
docker/lerobot-gpu-dev/Dockerfile
View File

@ -58,7 +58,7 @@ RUN (type -p wget >/dev/null || (apt update && apt-get install wget -y)) \
RUN ln -s /usr/bin/python3 /usr/bin/python
# Install poetry
RUN curl -sSL https://install.python-poetry.org | python - --version 1.8.5
RUN curl -sSL https://install.python-poetry.org | python -
ENV PATH="/root/.local/bin:$PATH"
RUN echo 'if [ "$HOME" != "/root" ]; then ln -sf /root/.local/bin/poetry $HOME/.local/bin/poetry; fi' >> /root/.bashrc
RUN poetry config virtualenvs.create false

9
examples/7_get_started_with_real_robot.md
View File

@ -36,9 +36,14 @@ Using `pip`:
pip install -e ".[dynamixel]"
```
Or using `poetry`:
Using `poetry`:
```bash
poetry install --sync --extras "dynamixel"
poetry sync --extras "dynamixel"
```
Using `uv`:
```bash
uv sync --extra "dynamixel"
```
/!\ For Linux only, ffmpeg and opencv requires conda install for now. Run this exact sequence of commands:

2
lerobot/common/datasets/factory.py
View File

@ -104,7 +104,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
)
logging.info(
"Multiple datasets were provided. Applied the following index mapping to the provided datasets: "
f"{pformat(dataset.repo_id_to_index , indent=2)}"
f"{pformat(dataset.repo_id_to_index, indent=2)}"
)
if cfg.dataset.use_imagenet_stats:

2
lerobot/common/datasets/push_dataset_to_hub/dora_parquet_format.py
View File

@ -72,7 +72,7 @@ def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episod
# However, note that "nearest" might synchronize the reference camera with other cameras on slightly future timestamps.
# are too far appart.
direction="nearest",
tolerance=pd.Timedelta(f"{1/fps} seconds"),
tolerance=pd.Timedelta(f"{1 / fps} seconds"),
)
# Remove rows with episode_index -1 which indicates data that correspond to in-between episodes
df = df[df["episode_index"] != -1]

6
lerobot/common/policies/act/modeling_act.py
View File

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

2
lerobot/common/policies/diffusion/configuration_diffusion.py
View File

@ -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

8
lerobot/common/policies/pi0/modeling_pi0.py
View File

@ -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

6
lerobot/common/policies/tdmpc/modeling_tdmpc.py
View File

@ -594,9 +594,9 @@ class TDMPCTOLD(nn.Module):
self.apply(_apply_fn)
for m in [self._reward, *self._Qs]:
assert isinstance(
m[-1], nn.Linear
), "Sanity check. The last linear layer needs 0 initialization on weights."
assert isinstance(m[-1], nn.Linear), (
"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

2
lerobot/common/policies/vqbet/configuration_vqbet.py
View File

@ -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

44
lerobot/common/policies/vqbet/vqbet_utils.py
View File

@ -203,9 +203,9 @@ class GPT(nn.Module):
def forward(self, input, targets=None):
device = input.device
b, t, d = input.size()
assert (
t <= self.config.gpt_block_size
), f"Cannot forward sequence of length {t}, block size is only {self.config.gpt_block_size}"
assert t <= 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)
@ -273,10 +273,10 @@ class GPT(nn.Module):
assert len(inter_params) == 0, "parameters {} made it into both decay/no_decay sets!".format(
str(inter_params)
)
assert (
len(param_dict.keys() - union_params) == 0
), "parameters {} were not separated into either decay/no_decay set!".format(
str(param_dict.keys() - union_params),
assert len(param_dict.keys() - union_params) == 0, (
"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)]
@ -419,9 +419,9 @@ class ResidualVQ(nn.Module):
# and the network should be able to reconstruct
if quantize_dim < self.num_quantizers:
assert (
self.quantize_dropout > 0.0
), "quantize dropout must be greater than 0 if you wish to reconstruct from a signal with less fine quantizations"
assert self.quantize_dropout > 0.0, (
"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(
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"
assert not torch.any(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"
)
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 (
is_multiheaded and self.separate_codebook_per_head
), "orthogonal regularization for only active codes not compatible with multi-headed with separate codebooks yet"
assert not (is_multiheaded and self.separate_codebook_per_head), (
"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 (
reinmax and not straight_through
), "reinmax can only be turned on if using straight through gumbel softmax"
assert not (reinmax and not straight_through), (
"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 (
use_ddp and num_codebooks > 1 and kmeans_init
), "kmeans init is not compatible with multiple codebooks in distributed environment for now"
assert not (use_ddp and num_codebooks > 1 and kmeans_init), (
"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

2
lerobot/common/robot_devices/control_utils.py
View File

@ -33,7 +33,7 @@ def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, f
def log_dt(shortname, dt_val_s):
nonlocal log_items, fps
info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1/ dt_val_s:3.1f}hz)"
info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1 / dt_val_s:3.1f}hz)"
if fps is not None:
actual_fps = 1 / dt_val_s
if actual_fps < fps - 1:

2
lerobot/common/utils/io_utils.py
View File

@ -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.

4
lerobot/common/utils/wandb_utils.py
View File

@ -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")

5
lerobot/configs/train.py
View File

@ -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

4
lerobot/scripts/eval.py
View File

@ -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)

7
lerobot/scripts/train.py
View File

@ -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_logger.log_dict(wandb_log_dict)
wandb_log_dict = train_tracker.to_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:

6
lerobot/scripts/visualize_dataset.py
View File

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

7933
poetry.lock generated
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File diff suppressed because it is too large Load Diff

134
pyproject.toml
View File

@ -1,18 +1,24 @@
[tool.poetry]
[project.urls]
homepage = "https://github.com/huggingface/lerobot"
issues = "https://github.com/huggingface/lerobot/issues"
discord = "https://discord.gg/s3KuuzsPFb"
[project]
name = "lerobot"
version = "0.1.0"
description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
authors = [
"Rémi Cadène <re.cadene@gmail.com>",
"Simon Alibert <alibert.sim@gmail.com>",
"Alexander Soare <alexander.soare159@gmail.com>",
"Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
"Adil Zouitine <adilzouitinegm@gmail.com>",
"Thomas Wolf <thomaswolfcontact@gmail.com>",
{name = "Rémi Cadène", email = "re.cadene@gmail.com"},
{name = "Simon Alibert", email = "alibert.sim@gmail.com"},
{name = "Alexander Soare", email = "alexander.soare159@gmail.com"},
{name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr"},
{name = "Adil Zouitine", email = "adilzouitinegm@gmail.com"},
{name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com"},
]
repository = "https://github.com/huggingface/lerobot"
readme = "README.md"
license = "Apache-2.0"
license = {text = "Apache-2.0"}
requires-python = ">=3.10"
keywords = ["robotics", "deep learning", "pytorch"]
classifiers=[
"Development Status :: 3 - Alpha",
"Intended Audience :: Developers",
@ -23,70 +29,56 @@ classifiers=[
"License :: OSI Approved :: Apache Software License",
"Programming Language :: Python :: 3.10",
]
packages = [{include = "lerobot"}]
dependencies = [
"cmake>=3.29.0.1",
"datasets>=2.19.0",
"deepdiff>=7.0.1",
"diffusers>=0.27.2",
"draccus>=0.10.0",
"einops>=0.8.0",
"flask>=3.0.3",
"gdown>=5.1.0",
"gymnasium==0.29.1", # TODO(rcadene, aliberts): Make gym 1.0.0 work
"h5py>=3.10.0",
"huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
"hydra-core>=1.3.2",
"imageio[ffmpeg]>=2.34.0",
"jsonlines>=4.0.0",
"numba>=0.59.0",
"omegaconf>=2.3.0",
"opencv-python>=4.9.0",
"pyav>=12.0.5",
"pymunk>=6.6.0",
"rerun-sdk>=0.21.0",
"termcolor>=2.4.0",
"torch>=2.2.1",
"torchvision>=0.21.0",
"wandb>=0.16.3",
"zarr>=2.17.0"
]
[project.optional-dependencies]
aloha = ["gym-aloha>=0.1.1 ; python_version < '4.0'"]
dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1"]
dora = ["gym-dora @ git+https://github.com/dora-rs/dora-lerobot.git#subdirectory=gym_dora ; python_version < '4.0'"]
dynamixel = ["dynamixel-sdk>=3.7.31", "pynput>=1.7.7"]
feetech = ["feetech-servo-sdk>=1.0.0", "pynput>=1.7.7"]
intelrealsense = ["pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"]
pi0 = ["transformers>=4.48.0"]
pusht = ["gym-pusht>=0.1.5 ; python_version < '4.0'"]
stretch = [
"hello-robot-stretch-body>=0.7.27 ; python_version < '4.0' and sys_platform == 'linux'",
"pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'",
"pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
"pynput>=1.7.7"
]
test = ["pytest>=8.1.0", "pytest-cov>=5.0.0", "pyserial>=3.5"]
umi = ["imagecodecs>=2024.1.1"]
video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
xarm = ["gym-xarm>=0.1.1 ; python_version < '4.0'"]
[tool.poetry.dependencies]
python = ">=3.10,<3.13"
termcolor = ">=2.4.0"
wandb = ">=0.16.3"
imageio = {extras = ["ffmpeg"], version = ">=2.34.0"}
gdown = ">=5.1.0"
einops = ">=0.8.0"
pymunk = ">=6.6.0"
zarr = ">=2.17.0"
numba = ">=0.59.0"
torch = ">=2.2.1"
opencv-python = ">=4.9.0"
diffusers = ">=0.27.2"
torchvision = ">=0.21.0"
h5py = ">=3.10.0"
huggingface-hub = {extras = ["hf-transfer", "cli"], version = ">=0.27.1"}
gymnasium = "==0.29.1" # TODO(rcadene, aliberts): Make gym 1.0.0 work
cmake = ">=3.29.0.1"
gym-dora = { git = "https://github.com/dora-rs/dora-lerobot.git", subdirectory = "gym_dora", optional = true }
gym-pusht = { version = ">=0.1.5", optional = true}
gym-xarm = { version = ">=0.1.1", optional = true}
gym-aloha = { version = ">=0.1.1", optional = true}
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"
imagecodecs = { version = ">=2024.1.1", optional = true }
pyav = ">=12.0.5"
rerun-sdk = ">=0.21.0"
deepdiff = ">=7.0.1"
flask = ">=3.0.3"
pandas = {version = ">=2.2.2", optional = true}
scikit-image = {version = ">=0.23.2", optional = true}
dynamixel-sdk = {version = ">=3.7.31", optional = true}
pynput = {version = ">=1.7.7", optional = true}
feetech-servo-sdk = {version = ">=1.0.0", optional = true}
setuptools = {version = "!=71.0.1", optional = true} # TODO(rcadene, aliberts): 71.0.1 has a bug
pyrealsense2 = {version = ">=2.55.1.6486", markers = "sys_platform != 'darwin'", optional = true} # TODO(rcadene, aliberts): Fix on Mac
pyrender = {git = "https://github.com/mmatl/pyrender.git", markers = "sys_platform == 'linux'", optional = true}
hello-robot-stretch-body = {version = ">=0.7.27", markers = "sys_platform == 'linux'", optional = true}
pyserial = {version = ">=3.5", optional = true}
jsonlines = ">=4.0.0"
transformers = {version = ">=4.48.0", optional = true}
draccus = ">=0.10.0"
[tool.poetry.extras]
dora = ["gym-dora"]
pusht = ["gym-pusht"]
xarm = ["gym-xarm"]
aloha = ["gym-aloha"]
dev = ["pre-commit", "debugpy"]
test = ["pytest", "pytest-cov", "pyserial"]
umi = ["imagecodecs"]
video_benchmark = ["scikit-image", "pandas"]
dynamixel = ["dynamixel-sdk", "pynput"]
feetech = ["feetech-servo-sdk", "pynput"]
intelrealsense = ["pyrealsense2"]
stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"]
pi0 = ["transformers"]
[tool.poetry]
requires-poetry = ">=2.1"
[tool.ruff]
line-length = 110

8
tests/scripts/save_dataset_to_safetensors.py
View File

@ -49,17 +49,17 @@ def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"):
# save 2 first frames of first episode
i = dataset.episode_data_index["from"][0].item()
save_file(dataset[i], repo_dir / f"frame_{i}.safetensors")
save_file(dataset[i + 1], repo_dir / f"frame_{i+1}.safetensors")
save_file(dataset[i + 1], repo_dir / f"frame_{i + 1}.safetensors")
# save 2 frames at the middle of first episode
i = int((dataset.episode_data_index["to"][0].item() - dataset.episode_data_index["from"][0].item()) / 2)
save_file(dataset[i], repo_dir / f"frame_{i}.safetensors")
save_file(dataset[i + 1], repo_dir / f"frame_{i+1}.safetensors")
save_file(dataset[i + 1], repo_dir / f"frame_{i + 1}.safetensors")
# save 2 last frames of first episode
i = dataset.episode_data_index["to"][0].item()
save_file(dataset[i - 2], repo_dir / f"frame_{i-2}.safetensors")
save_file(dataset[i - 1], repo_dir / f"frame_{i-1}.safetensors")
save_file(dataset[i - 2], repo_dir / f"frame_{i - 2}.safetensors")
save_file(dataset[i - 1], repo_dir / f"frame_{i - 1}.safetensors")
# TODO(rcadene): Enable testing on second and last episode
# We currently cant because our test dataset only contains the first episode

6
tests/test_datasets.py
View File

@ -336,9 +336,9 @@ 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(
new_frame[key], old_frame[key]
).all(), f"{key=} for index={i} does not contain the same value"
assert torch.isclose(new_frame[key], old_frame[key]).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()

18
tests/test_image_transforms.py
View File

@ -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(
combined_transforms_dir.iterdir()
), "No transformed images found in combined transforms directory."
assert any(combined_transforms_dir.iterdir()), (
"No transformed images found in combined transforms directory."
)
for i in range(1, n_examples + 1):
assert (
combined_transforms_dir / f"{i}.png"
).exists(), f"Combined transform image {i}.png was not found."
assert (combined_transforms_dir / f"{i}.png").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 (
transform_dir / file_name
).exists(), f"{file_name} was not found in {transform} directory."
assert (transform_dir / file_name).exists(), (
f"{file_name} was not found in {transform} directory."
)

12
tests/test_online_buffer.py
View File

@ -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 (
n_episodes + n_more_episodes
) * n_frames_per_episode > buffer_capacity, "Something went wrong with the test code."
assert (n_episodes + n_more_episodes) * 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(
is_pad, torch.tensor([True, False, False, True, True])
), "Padding does not match expected values"
assert torch.equal(is_pad, torch.tensor([True, False, False, True, True])), (
"Padding does not match expected values"
)
# Arbitrarily set small dataset sizes, making sure to have uneven sizes.

12
tests/test_policies.py
View File

@ -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(
observation_
), "Observation batch keys are not the same after a forward pass."
assert all(
torch.equal(observation[k], observation_[k]) for k in observation
), "Observation batch values are not the same after a forward pass."
assert set(observation) == set(observation_), (
"Observation batch keys are not the same after a forward pass."
)
assert all(torch.equal(observation[k], observation_[k]) for k in observation), (
"Observation batch values are not the same after a forward pass."
)
# Test step through policy
env.step(action)