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

This commit is contained in:
Alexander Soare 2024-04-01 11:31:31 +01:00
parent b7c9c33072 2a98cc71ed
commit f1148b8c2d
8 changed files with 406 additions and 43 deletions
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116
.github/poetry/cpu/poetry.lock generated vendored
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@ -327,6 +327,35 @@ files = [
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python-versions = ">=3.7"
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[[package]] [[package]]
name = "colorama" name = "colorama"
version = "0.4.6" version = "0.4.6"
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{file = "coverage-7.4.4.tar.gz", hash = "sha256:c901df83d097649e257e803be22592aedfd5182f07b3cc87d640bbb9afd50f49"},
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[package.dependencies]
tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.11.0a6\" and extra == \"toml\""}
[package.extras]
toml = ["tomli"]
[[package]] [[package]]
name = "debugpy" name = "debugpy"
version = "1.8.1" version = "1.8.1"
@ -2103,6 +2199,24 @@ tomli = {version = ">=1", markers = "python_version < \"3.11\""}
[package.extras] [package.extras]
testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"] testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
[[package]]
name = "pytest-cov"
version = "5.0.0"
description = "Pytest plugin for measuring coverage."
optional = false
python-versions = ">=3.8"
files = [
{file = "pytest-cov-5.0.0.tar.gz", hash = "sha256:5837b58e9f6ebd335b0f8060eecce69b662415b16dc503883a02f45dfeb14857"},
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]
[package.dependencies]
coverage = {version = ">=5.2.1", extras = ["toml"]}
pytest = ">=4.6"
[package.extras]
testing = ["fields", "hunter", "process-tests", "pytest-xdist", "virtualenv"]
[[package]] [[package]]
name = "python-dateutil" name = "python-dateutil"
version = "2.9.0.post0" version = "2.9.0.post0"
@ -3216,4 +3330,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "^3.10" python-versions = "^3.10"
content-hash = "93c406139c456780b3d309d7ed3d68ea60cc0e8893c1ee717692984e573d3404" content-hash = "8800bb8b24312d17b765cd2ce2799f49436171dd5fbf1bec3b07f853cfa9befd"

2
.github/poetry/cpu/pyproject.toml vendored
View File

@ -52,12 +52,14 @@ robomimic = "0.2.0"
huggingface-hub = "^0.21.4" huggingface-hub = "^0.21.4"
gymnasium-robotics = "^1.2.4" gymnasium-robotics = "^1.2.4"
gymnasium = "^0.29.1" gymnasium = "^0.29.1"
cmake = "^3.29.0.1"
[tool.poetry.group.dev.dependencies] [tool.poetry.group.dev.dependencies]
pre-commit = "^3.6.2" pre-commit = "^3.6.2"
debugpy = "^1.8.1" debugpy = "^1.8.1"
pytest = "^8.1.0" pytest = "^8.1.0"
pytest-cov = "^5.0.0"
[[tool.poetry.source]] [[tool.poetry.source]]

117
.github/workflows/test.yml vendored
View File

@ -1,4 +1,4 @@
name: Test name: Tests
on: on:
pull_request: pull_request:
@ -10,7 +10,7 @@ on:
- main - main
jobs: jobs:
test: tests:
if: | if: |
${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} || ${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} ||
${{ github.event_name == 'push' }} ${{ github.event_name == 'push' }}
@ -19,7 +19,6 @@ jobs:
POETRY_VERSION: 1.8.2 POETRY_VERSION: 1.8.2
DATA_DIR: tests/data DATA_DIR: tests/data
MUJOCO_GL: egl MUJOCO_GL: egl
LEROBOT_TESTS_DEVICE: cpu
steps: steps:
#---------------------------------------------- #----------------------------------------------
# check-out repo and set-up python # check-out repo and set-up python
@ -110,34 +109,126 @@ jobs:
run: poetry install --no-interaction run: poetry install --no-interaction
#---------------------------------------------- #----------------------------------------------
# run tests # run tests & coverage
#---------------------------------------------- #----------------------------------------------
- name: Run tests - name: Run tests
env:
LEROBOT_TESTS_DEVICE: cpu
run: | run: |
source .venv/bin/activate source .venv/bin/activate
pytest tests pytest --cov=./lerobot --cov-report=xml tests
- name: Test train pusht end-to-end # TODO(aliberts): Link with HF Codecov account
# - name: Upload coverage reports to Codecov with GitHub Action
# uses: codecov/codecov-action@v4
# with:
# files: ./coverage.xml
# verbose: true
#----------------------------------------------
# run end-to-end tests
#----------------------------------------------
- name: Test train ACT on ALOHA end-to-end
run: | run: |
source .venv/bin/activate source .venv/bin/activate
python lerobot/scripts/train.py \ python lerobot/scripts/train.py \
hydra.job.name=pusht \ policy=act \
env=aloha \
wandb.enable=False \
offline_steps=2 \
online_steps=0 \
device=cpu \
save_model=true \
save_freq=2 \
horizon=20 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/act/
- name: Test eval ACT on ALOHA end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config tests/outputs/act/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/act/models/2.pt
# TODO(aliberts): This takes ~2mn to run, needs to be improved
# - name: Test eval ACT on ALOHA end-to-end (policy is None)
# run: |
# source .venv/bin/activate
# python lerobot/scripts/eval.py \
# --config lerobot/configs/default.yaml \
# policy=act \
# env=aloha \
# eval_episodes=1 \
# device=cpu
- name: Test train Diffusion on PushT end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/train.py \
policy=diffusion \
env=pusht \ env=pusht \
wandb.enable=False \ wandb.enable=False \
offline_steps=2 \ offline_steps=2 \
online_steps=0 \ online_steps=0 \
device=cpu \ device=cpu \
save_model=true \ save_model=true \
save_freq=1 \ save_freq=2 \
hydra.run.dir=tests/outputs/ hydra.run.dir=tests/outputs/diffusion/
- name: Test eval pusht end-to-end - name: Test eval Diffusion on PushT end-to-end
run: | run: |
source .venv/bin/activate source .venv/bin/activate
python lerobot/scripts/eval.py \ python lerobot/scripts/eval.py \
--config tests/outputs/.hydra/config.yaml \ --config tests/outputs/diffusion/.hydra/config.yaml \
wandb.enable=False \
eval_episodes=1 \ eval_episodes=1 \
env.episode_length=8 \ env.episode_length=8 \
device=cpu \ device=cpu \
policy.pretrained_model_path=tests/outputs/models/1.pt policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
- name: Test eval Diffusion on PushT end-to-end (policy is None)
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config lerobot/configs/default.yaml \
policy=diffusion \
env=pusht \
eval_episodes=1 \
device=cpu
- name: Test train TDMPC on Simxarm end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/train.py \
policy=tdmpc \
env=simxarm \
wandb.enable=False \
offline_steps=1 \
online_steps=1 \
device=cpu \
save_model=true \
save_freq=2 \
hydra.run.dir=tests/outputs/tdmpc/
- name: Test eval TDMPC on Simxarm end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config tests/outputs/tdmpc/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
- name: Test eval TDPMC on Simxarm end-to-end (policy is None)
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config lerobot/configs/default.yaml \
policy=tdmpc \
env=simxarm \
eval_episodes=1 \
device=cpu

73
README.md
View File

@ -8,9 +8,25 @@
<br/> <br/>
</p> </p>
# LeRobot <div align="center">
[![Tests](https://github.com/huggingface/lerobot/actions/workflows/test.yml/badge.svg?branch=main)](https://github.com/huggingface/lerobot/actions/workflows/test.yml?query=branch%3Amain)
[![Coverage](https://codecov.io/gh/huggingface/lerobot/branch/main/graph/badge.svg?token=TODO)](https://codecov.io/gh/huggingface/lerobot)
[![Python versions](https://img.shields.io/pypi/pyversions/lerobot)](https://www.python.org/downloads/)
[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://github.com/huggingface/lerobot/blob/main/LICENSE)
[![Status](https://img.shields.io/pypi/status/lerobot)](https://pypi.org/project/lerobot/)
[![Version](https://img.shields.io/pypi/v/lerobot)](https://pypi.org/project/lerobot/)
[![Examples](https://img.shields.io/badge/Examples-green.svg)](https://github.com/huggingface/lerobot/tree/main/examples)
[![Discord](https://dcbadge.vercel.app/api/server/C5P34WJ68S?style=flat)](https://discord.gg/s3KuuzsPFb)
</div>
<h3 align="center">
<p>State-of-the-art Machine Learning for real-world robotics</p>
</h3>
---
**State-of-the-art machine learning for real-world robotics**
🤗 LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier for entry to robotics so that everyone can contribute and benefit from sharing datasets and pretrained models. 🤗 LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier for entry to robotics so that everyone can contribute and benefit from sharing datasets and pretrained models.
@ -44,26 +60,21 @@
## Installation ## Installation
Create a virtual environment with Python 3.10, e.g. using `conda`: Download our source code:
```bash
git clone https://github.com/huggingface/lerobot.git
cd lerobot
```
Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
```bash ```bash
conda create -y -n lerobot python=3.10 conda create -y -n lerobot python=3.10
conda activate lerobot conda activate lerobot
``` ```
[Install `poetry`](https://python-poetry.org/docs/#installation) (if you don't have it already) Then, install 🤗 LeRobot:
```bash ```bash
curl -sSL https://install.python-poetry.org | python - python -m pip install .
```
Install dependencies
```bash
poetry install
```
If you encounter a disk space error, try to change your tmp dir to a location where you have enough disk space, e.g.
```bash
mkdir ~/tmp
export TMPDIR='~/tmp'
``` ```
To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiments tracking, log in with To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiments tracking, log in with
@ -174,11 +185,11 @@ hydra.run.dir=outputs/train/aloha_act
Feel free to open issues and PRs, and to coordinate your efforts with the community on our [Discord Channel](https://discord.gg/VjFz58wn3R). For specific inquiries, reach out to [Remi Cadene](remi.cadene@huggingface.co). Feel free to open issues and PRs, and to coordinate your efforts with the community on our [Discord Channel](https://discord.gg/VjFz58wn3R). For specific inquiries, reach out to [Remi Cadene](remi.cadene@huggingface.co).
**TODO** ### TODO
If you are not sure how to contribute or want to know the next features we working on, look on this project page: [LeRobot TODO](https://github.com/orgs/huggingface/projects/46) If you are not sure how to contribute or want to know the next features we working on, look on this project page: [LeRobot TODO](https://github.com/orgs/huggingface/projects/46)
**Follow our style** ### Follow our style
```bash ```bash
# install if needed # install if needed
@ -187,25 +198,33 @@ pre-commit install
pre-commit pre-commit
``` ```
**Add dependencies** ### Add dependencies
Instead of `pip install some-package`, we use `poetry` to track the versions of our dependencies: Instead of using `pip` directly, we use `poetry` for development purposes to easily track our dependencies.
If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
Install the project with:
```bash
poetry install
```
Then, the equivalent of `pip install some-package`, would just be:
```bash ```bash
poetry add some-package poetry add some-package
``` ```
**NOTE:** Currently, to ensure the CI works properly, any new package must also be added in the CPU-only environment dedicated CI. To do this, you should create a separate environment and add the new package there as well. For example: **NOTE:** Currently, to ensure the CI works properly, any new package must also be added in the CPU-only environment dedicated to the CI. To do this, you should create a separate environment and add the new package there as well. For example:
```bash ```bash
# add the new package to your main poetry env # Add the new package to your main poetry env
poetry add some-package poetry add some-package
# add the same package to the CPU-only env dedicated to CI # Add the same package to the CPU-only env dedicated to CI
conda create -y -n lerobot-ci python=3.10 conda create -y -n lerobot-ci python=3.10
conda activate lerobot-ci conda activate lerobot-ci
cd .github/poetry/cpu cd .github/poetry/cpu
poetry add some-package poetry add some-package
``` ```
**Run tests locally** ### Run tests locally
Install [git lfs](https://git-lfs.com/) to retrieve test artifacts (if you don't have it already). Install [git lfs](https://git-lfs.com/) to retrieve test artifacts (if you don't have it already).
@ -236,7 +255,7 @@ Run tests
DATA_DIR="tests/data" pytest -sx tests DATA_DIR="tests/data" pytest -sx tests
``` ```
**Add a new dataset** ### Add a new dataset
To add a dataset to the hub, first login and use a token generated from [huggingface settings](https://huggingface.co/settings/tokens) with write access: To add a dataset to the hub, first login and use a token generated from [huggingface settings](https://huggingface.co/settings/tokens) with write access:
```bash ```bash
@ -297,7 +316,7 @@ 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 python tests/scripts/mock_dataset.py --in-data-dir data/$DATASET --out-data-dir tests/data/$DATASET
``` ```
**Add a pretrained policy** ### Add a pretrained policy
Once you have trained a policy you may upload it to the HuggingFace hub. Once you have trained a policy you may upload it to the HuggingFace hub.
@ -333,7 +352,7 @@ huggingface-cli upload $HUB_ID to_upload
See `eval.py` for an example of how a user may use your policy. See `eval.py` for an example of how a user may use your policy.
**Improve your code with profiling** ### Improve your code with profiling
An example of a code snippet to profile the evaluation of a policy: An example of a code snippet to profile the evaluation of a policy:
```python ```python

2
lerobot/common/envs/aloha/env.py
View File

@ -206,7 +206,7 @@ class AlohaEnv(AbstractEnv):
if self.from_pixels: if self.from_pixels:
if isinstance(self.image_size, int): if isinstance(self.image_size, int):
image_shape = (3, self.image_size, self.image_size) image_shape = (3, self.image_size, self.image_size)
elif OmegaConf.is_list(self.image_size): elif OmegaConf.is_list(self.image_size) or isinstance(self.image_size, list):
assert len(self.image_size) == 3 # c h w assert len(self.image_size) == 3 # c h w
assert self.image_size[0] == 3 # c is RGB assert self.image_size[0] == 3 # c is RGB
image_shape = tuple(self.image_size) image_shape = tuple(self.image_size)

116
poetry.lock generated
View File

@ -327,6 +327,35 @@ files = [
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] ]
[[package]]
name = "cmake"
version = "3.29.0.1"
description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software"
optional = false
python-versions = ">=3.7"
files = [
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]
[package.extras]
test = ["coverage (>=4.2)", "pytest (>=3.0.3)", "pytest-cov (>=2.4.0)"]
[[package]] [[package]]
name = "colorama" name = "colorama"
version = "0.4.6" version = "0.4.6"
@ -338,6 +367,73 @@ files = [
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name = "coverage"
version = "7.4.4"
description = "Code coverage measurement for Python"
optional = false
python-versions = ">=3.8"
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]
[package.dependencies]
tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.11.0a6\" and extra == \"toml\""}
[package.extras]
toml = ["tomli"]
[[package]] [[package]]
name = "debugpy" name = "debugpy"
version = "1.8.1" version = "1.8.1"
@ -2307,6 +2403,24 @@ tomli = {version = ">=1", markers = "python_version < \"3.11\""}
[package.extras] [package.extras]
testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"] testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
[[package]]
name = "pytest-cov"
version = "5.0.0"
description = "Pytest plugin for measuring coverage."
optional = false
python-versions = ">=3.8"
files = [
{file = "pytest-cov-5.0.0.tar.gz", hash = "sha256:5837b58e9f6ebd335b0f8060eecce69b662415b16dc503883a02f45dfeb14857"},
{file = "pytest_cov-5.0.0-py3-none-any.whl", hash = "sha256:4f0764a1219df53214206bf1feea4633c3b558a2925c8b59f144f682861ce652"},
]
[package.dependencies]
coverage = {version = ">=5.2.1", extras = ["toml"]}
pytest = ">=4.6"
[package.extras]
testing = ["fields", "hunter", "process-tests", "pytest-xdist", "virtualenv"]
[[package]] [[package]]
name = "python-dateutil" name = "python-dateutil"
version = "2.9.0.post0" version = "2.9.0.post0"
@ -3475,4 +3589,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "^3.10" python-versions = "^3.10"
content-hash = "99addbfc02bcd35a308f4ecc5b4285c9c5054118f4aadea27650d8bf355d9616" content-hash = "174c7d42f8039eedd2c447a4e6cae5169782cbd94346b5606572a0010194ca05"

2
pyproject.toml
View File

@ -51,12 +51,14 @@ huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"}
robomimic = "0.2.0" robomimic = "0.2.0"
gymnasium-robotics = "^1.2.4" gymnasium-robotics = "^1.2.4"
gymnasium = "^0.29.1" gymnasium = "^0.29.1"
cmake = "^3.29.0.1"
[tool.poetry.group.dev.dependencies] [tool.poetry.group.dev.dependencies]
pre-commit = "^3.6.2" pre-commit = "^3.6.2"
debugpy = "^1.8.1" debugpy = "^1.8.1"
pytest = "^8.1.0" pytest = "^8.1.0"
pytest-cov = "^5.0.0"
[tool.ruff] [tool.ruff]

21
tests/test_envs.py
View File

@ -4,6 +4,7 @@ import torch
from torchrl.envs.utils import check_env_specs, step_mdp from torchrl.envs.utils import check_env_specs, step_mdp
from lerobot.common.datasets.factory import make_offline_buffer from lerobot.common.datasets.factory import make_offline_buffer
from lerobot.common.envs.aloha.env import AlohaEnv
from lerobot.common.envs.factory import make_env from lerobot.common.envs.factory import make_env
from lerobot.common.envs.pusht.env import PushtEnv from lerobot.common.envs.pusht.env import PushtEnv
from lerobot.common.envs.simxarm.env import SimxarmEnv from lerobot.common.envs.simxarm.env import SimxarmEnv
@ -39,6 +40,26 @@ def print_spec_rollout(env):
print("data from rollout:", simple_rollout(100)) print("data from rollout:", simple_rollout(100))
@pytest.mark.parametrize(
"task,from_pixels,pixels_only",
[
("sim_insertion", True, False),
("sim_insertion", True, True),
("sim_transfer_cube", True, False),
("sim_transfer_cube", True, True),
],
)
def test_aloha(task, from_pixels, pixels_only):
env = AlohaEnv(
task,
from_pixels=from_pixels,
pixels_only=pixels_only,
image_size=[3, 480, 640] if from_pixels else None,
)
# print_spec_rollout(env)
check_env_specs(env)
@pytest.mark.parametrize( @pytest.mark.parametrize(
"task,from_pixels,pixels_only", "task,from_pixels,pixels_only",
[ [