Merge remote-tracking branch 'upstream/main' into fix_environment_seeding

.github/workflows/test.yml

@@ -135,8 +135,7 @@ jobs:
         run: |
           source .venv/bin/activate
           python lerobot/scripts/eval.py \
-            hydra.job.name=pusht \
-            env=pusht \
+            --config tests/outputs/.hydra/config.yaml \
             wandb.enable=False \
             eval_episodes=1 \
             env.episode_length=8 \

README.md

@@ -48,7 +48,6 @@ wandb login
 
 ## Usage
 
-
 ### Train
 
 ```
@@ -65,14 +64,9 @@ hydra.run.dir=tmp/$(date +"%Y_%m_%d") \
 env=pusht
 ```
 
-### Visualize online buffer / Eval
-
-```
-python lerobot/scripts/eval.py \
-hydra.run.dir=tmp/$(date +"%Y_%m_%d") \
-env=pusht
-```
+### Eval
 
+Run `python lerobot/scripts/eval.py --help` for instructions.
 
 ## TODO
 
@@ -106,8 +100,9 @@ with profile(
 
 ```bash
 python lerobot/scripts/eval.py \
-pretrained_model_path=/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt \
-eval_episodes=7
+    --config /home/rcadene/code/fowm/logs/xarm_lift/all/default/2/.hydra/config.yaml \
+    pretrained_model_path=/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt \
+    eval_episodes=7
 ```
 
 ## Contribute
@@ -223,3 +218,38 @@ Finally, you might want to mock the dataset if you need to update the unit tests
 ```
 python tests/scripts/mock_dataset.py --in-data-dir data/$DATASET --out-data-dir tests/data/$DATASET
 ```
+
+**Models**
+
+Once you have trained a model you may upload it to the HuggingFace hub.
+
+Firstly, make sure you have a model repository set up on the hub. The hub ID looks like HF_USER/REPO_NAME.
+
+Secondly, assuming you have trained a model, you need:
+
+- `config.yaml` which you can get from the `.hydra` directory of your training output folder.
+- `model.pt` which should be one of the saved models in the `models` directory of your training output folder (they won't be named `model.pt` but you will need to choose one).
+- `staths.pth` which should point to the same file in the dataset directory (found in `data/{dataset_name}`).
+
+To upload these to the hub, prepare a folder with the following structure (you can use symlinks rather than copying):
+
+```
+to_upload
+    ├── config.yaml
+    ├── model.pt
+    └── stats.pth
+```
+
+With the folder prepared, run the following with a desired revision ID.
+
+```
+huggingface-cli upload $HUB_ID to_upload --revision $REVISION_ID
+```
+
+If you want this to be the default revision also run the following (don't worry, it won't upload the files again; it will just adjust the file pointers):
+
+```
+huggingface-cli upload $HUB_ID to_upload
+```
+
+See `eval.py` for an example of how a user may use your model.

lerobot/common/datasets/factory.py

@@ -14,7 +14,12 @@ DATA_DIR = Path(os.environ["DATA_DIR"]) if "DATA_DIR" in os.environ else None
 
 
 def make_offline_buffer(
-    cfg, overwrite_sampler=None, normalize=True, overwrite_batch_size=None, overwrite_prefetch=None
+    cfg,
+    overwrite_sampler=None,
+    normalize=True,
+    overwrite_batch_size=None,
+    overwrite_prefetch=None,
+    stats_path=None,
 ):
     if cfg.policy.balanced_sampling:
         assert cfg.online_steps > 0
@@ -98,10 +103,12 @@ def make_offline_buffer(
     transforms = [Prod(in_keys=img_keys, prod=1 / 255)]
 
     if normalize:
-        # TODO(rcadene): make normalization strategy configurable between mean_std, min_max, manual_min_max, min_max_from_spec
-        stats = offline_buffer.compute_or_load_stats()
+        # TODO(rcadene): make normalization strategy configurable between mean_std, min_max, manual_min_max,
+        # min_max_from_spec
+        stats = offline_buffer.compute_or_load_stats() if stats_path is None else torch.load(stats_path)
 
-        # we only normalize the state and action, since the images are usually normalized inside the model for now (except for tdmpc: see the following)
+        # we only normalize the state and action, since the images are usually normalized inside the model for
+        # now (except for tdmpc: see the following)
         in_keys = [("observation", "state"), ("action")]
 
         if cfg.policy.name == "tdmpc":

lerobot/configs/default.yaml

@@ -5,7 +5,7 @@ defaults:
 
 hydra:
   run:
-    dir: outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}_${env.name}_${policy.name}_${hydra.job.name}
+    dir: outputs/train/${now:%Y-%m-%d}/${now:%H-%M-%S}_${env.name}_${policy.name}_${hydra.job.name}
   job:
     name: default
 

lerobot/scripts/eval.py

@@ -1,7 +1,37 @@
+"""Evaluate a policy on an environment by running rollouts and computing metrics.
+
+The script may be run in one of two ways:
+
+1. By providing the path to a config file with the --config argument.
+2. By providing a HuggingFace Hub ID with the --hub-id argument. You may also provide a revision number with the
+    --revision argument.
+
+In either case, it is possible to override config arguments by adding a list of config.key=value arguments.
+
+Examples:
+
+You have a specific config file to go with trained model weights, and want to run 10 episodes.
+
+```
+python lerobot/scripts/eval.py --config PATH/TO/FOLDER/config.yaml \
+    policy.pretrained_model_path=PATH/TO/FOLDER/weights.pth` eval_episodes=10
+```
+
+You have a HuggingFace Hub ID, you know which revision you want, and want to run 10 episodes (note that in this case,
+you don't need to specify which weights to use):
+
+```
+python lerobot/scripts/eval.py --hub-id HUB/ID --revision v1.0 eval_episodes=10
+```
+"""
+
+import argparse
 import json
 import logging
+import os.path as osp
 import threading
 import time
+from datetime import datetime as dt
 from pathlib import Path
 
 import einops
@@ -10,6 +40,7 @@ import imageio
 import numpy as np
 import torch
 import tqdm
+from huggingface_hub import snapshot_download
 from tensordict.nn import TensorDictModule
 from torchrl.envs import EnvBase
 from torchrl.envs.batched_envs import BatchedEnvBase
@@ -145,12 +176,7 @@ def eval_policy(
     return info
 
 
-@hydra.main(version_base=None, config_name="default", config_path="../configs")
-def eval_cli(cfg: dict):
-    eval(cfg, out_dir=hydra.core.hydra_config.HydraConfig.get().runtime.output_dir)
-
-
-def eval(cfg: dict, out_dir=None):
+def eval(cfg: dict, out_dir=None, stats_path=None):
     if out_dir is None:
         raise NotImplementedError()
 
@@ -165,10 +191,10 @@ def eval(cfg: dict, out_dir=None):
 
     log_output_dir(out_dir)
 
-    logging.info("make_offline_buffer")
-    offline_buffer = make_offline_buffer(cfg)
+    logging.info("Making transforms.")
+    offline_buffer = make_offline_buffer(cfg, stats_path=stats_path)
 
-    logging.info("make_env")
+    logging.info("Making environment.")
     env = make_env(cfg, transform=offline_buffer.transform)
 
     if cfg.policy.pretrained_model_path:
@@ -200,5 +226,53 @@ def eval(cfg: dict, out_dir=None):
     logging.info("End of eval")
 
 
+def _relative_path_between(path1: Path, path2: Path) -> Path:
+    """Returns path1 relative to path2."""
+    path1 = path1.absolute()
+    path2 = path2.absolute()
+    try:
+        return path1.relative_to(path2)
+    except ValueError:  # most likely because path1 is not a subpath of path2
+        common_parts = Path(osp.commonpath([path1, path2])).parts
+        return Path(
+            "/".join([".."] * (len(path2.parts) - len(common_parts)) + list(path1.parts[len(common_parts) :]))
+        )
+
+
 if __name__ == "__main__":
-    eval_cli()
+    parser = argparse.ArgumentParser(
+        description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter
+    )
+    group = parser.add_mutually_exclusive_group(required=True)
+    group.add_argument("--config", help="Path to a specific yaml config you want to use.")
+    group.add_argument("--hub-id", help="HuggingFace Hub ID for a pretrained model.")
+    parser.add_argument("--revision", help="Optionally provide the HuggingFace Hub revision ID.")
+    parser.add_argument(
+        "overrides",
+        nargs="*",
+        help="Any key=value arguments to override config values (use dots for.nested=overrides)",
+    )
+    args = parser.parse_args()
+
+    if args.config is not None:
+        # Note: For the config_path, Hydra wants a path relative to this script file.
+        hydra.initialize(
+            config_path=str(
+                _relative_path_between(Path(args.config).absolute().parent, Path(__file__).parent)
+            )
+        )
+        cfg = hydra.compose(Path(args.config).stem, args.overrides)
+        # TODO(alexander-soare): Save and load stats in trained model directory.
+        stats_path = None
+    elif args.hub_id is not None:
+        folder = Path(snapshot_download(args.hub_id, revision="v1.0"))
+        cfg = hydra.initialize(config_path=str(_relative_path_between(folder, Path(__file__).parent)))
+        cfg = hydra.compose("config", args.overrides)
+        cfg.policy.pretrained_model_path = folder / "model.pt"
+        stats_path = folder / "stats.pth"
+
+    eval(
+        cfg,
+        out_dir=f"outputs/eval/{dt.now().strftime('%Y-%m-%d/%H-%M-%S')}_{cfg.env.name}_{cfg.policy.name}",
+        stats_path=stats_path,
+    )