From e89521dfa02f42701c3732e67154300257c5c443 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Thu, 9 May 2024 13:42:12 +0100 Subject: [PATCH 01/22] Enable tests for TD-MPC (#160) --- Makefile | 7 +++---- lerobot/configs/policy/tdmpc.yaml | 2 +- .../xarm_tdmpc/actions.safetensors | Bin 0 -> 928 bytes .../xarm_tdmpc/grad_stats.safetensors | Bin 0 -> 16904 bytes .../xarm_tdmpc/output_dict.safetensors | Bin 0 -> 240 bytes .../xarm_tdmpc/param_stats.safetensors | Bin 0 -> 36312 bytes tests/test_policies.py | 2 +- 7 files changed, 5 insertions(+), 6 deletions(-) create mode 100644 tests/data/save_policy_to_safetensors/xarm_tdmpc/actions.safetensors create mode 100644 tests/data/save_policy_to_safetensors/xarm_tdmpc/grad_stats.safetensors create mode 100644 tests/data/save_policy_to_safetensors/xarm_tdmpc/output_dict.safetensors create mode 100644 tests/data/save_policy_to_safetensors/xarm_tdmpc/param_stats.safetensors diff --git a/Makefile b/Makefile index 07aa4e97..a0163f94 100644 --- a/Makefile +++ b/Makefile @@ -22,9 +22,8 @@ test-end-to-end: ${MAKE} test-act-ete-eval ${MAKE} test-diffusion-ete-train ${MAKE} test-diffusion-ete-eval - # TODO(rcadene, alexander-soare): enable end-to-end tests for tdmpc - # ${MAKE} test-tdmpc-ete-train - # ${MAKE} test-tdmpc-ete-eval + ${MAKE} test-tdmpc-ete-train + ${MAKE} test-tdmpc-ete-eval ${MAKE} test-default-ete-eval test-act-ete-train: @@ -80,7 +79,7 @@ test-tdmpc-ete-train: policy=tdmpc \ env=xarm \ env.task=XarmLift-v0 \ - dataset_repo_id=lerobot/xarm_lift_medium_replay \ + dataset_repo_id=lerobot/xarm_lift_medium \ wandb.enable=False \ training.offline_steps=2 \ training.online_steps=2 \ diff --git a/lerobot/configs/policy/tdmpc.yaml b/lerobot/configs/policy/tdmpc.yaml index eb89033b..7e736850 100644 --- a/lerobot/configs/policy/tdmpc.yaml +++ b/lerobot/configs/policy/tdmpc.yaml @@ -1,7 +1,7 @@ # @package _global_ seed: 1 -dataset_repo_id: lerobot/xarm_lift_medium_replay +dataset_repo_id: lerobot/xarm_lift_medium training: 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zbadDF9}({`e*R-8?4CI5o3|9niyN|EZ)z7G{q9o>C!bay-}t>@U;DZLjUMkJ@)6=@qMW|o*!)Ner<`r^zA{uj}@6=-#LEpY(YD zDeKSJ|EQ;*9p1jnZXWr3$ebIrR?LYU*t>*iOFFrIjf8uWQdQW<&_~B6ZwHt41{ Date: Thu, 9 May 2024 15:16:47 +0100 Subject: [PATCH 02/22] Fix stats override in ACT config (#161) --- lerobot/configs/policy/act.yaml | 12 ++++---- lerobot/configs/policy/diffusion.yaml | 28 +++++++++--------- .../aloha_act/actions.safetensors | Bin 5104 -> 5104 bytes .../aloha_act/grad_stats.safetensors | Bin 31688 -> 31688 bytes .../aloha_act/output_dict.safetensors | Bin 196 -> 196 bytes .../aloha_act/param_stats.safetensors | Bin 33408 -> 33408 bytes 6 files changed, 20 insertions(+), 20 deletions(-) diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml index a49a97f8..15efcce8 100644 --- a/lerobot/configs/policy/act.yaml +++ b/lerobot/configs/policy/act.yaml @@ -3,6 +3,12 @@ seed: 1000 dataset_repo_id: lerobot/aloha_sim_insertion_human +override_dataset_stats: + observation.images.top: + # stats from imagenet, since we use a pretrained vision model + mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) + std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) + training: offline_steps: 80000 online_steps: 0 @@ -18,12 +24,6 @@ training: grad_clip_norm: 10 online_steps_between_rollouts: 1 - override_dataset_stats: - observation.images.top: - # stats from imagenet, since we use a pretrained vision model - mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1) - std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1) - delta_timestamps: action: "[i / ${fps} for i in range(${policy.chunk_size})]" diff --git a/lerobot/configs/policy/diffusion.yaml b/lerobot/configs/policy/diffusion.yaml index 9a4aeb2a..7278985e 100644 --- a/lerobot/configs/policy/diffusion.yaml +++ b/lerobot/configs/policy/diffusion.yaml @@ -7,6 +7,20 @@ seed: 100000 dataset_repo_id: lerobot/pusht +override_dataset_stats: + # TODO(rcadene, alexander-soare): should we remove image stats as well? do we use a pretrained vision model? + observation.image: + mean: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1) + std: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1) + # TODO(rcadene, alexander-soare): we override state and action stats to use the same as the pretrained model + # from the original codebase, but we should remove these and train our own pretrained model + observation.state: + min: [13.456424, 32.938293] + max: [496.14618, 510.9579] + action: + min: [12.0, 25.0] + max: [511.0, 511.0] + training: offline_steps: 200000 online_steps: 0 @@ -34,20 +48,6 @@ eval: n_episodes: 50 batch_size: 50 -override_dataset_stats: - # TODO(rcadene, alexander-soare): should we remove image stats as well? do we use a pretrained vision model? - observation.image: - mean: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1) - std: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1) - # TODO(rcadene, alexander-soare): we override state and action stats to use the same as the pretrained model - # from the original codebase, but we should remove these and train our own pretrained 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+++++++++++++++++++++++++++++++++++ 2 files changed, 65 insertions(+) create mode 100644 tests/test_utils.py diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py index 9d0ddd98..8fe621f4 100644 --- a/lerobot/common/utils/utils.py +++ b/lerobot/common/utils/utils.py @@ -1,8 +1,10 @@ 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 +41,31 @@ 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") diff --git a/tests/test_utils.py b/tests/test_utils.py new file mode 100644 index 00000000..bcdd95b4 --- /dev/null +++ b/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 From 1249aee3acdc12c6a9212f99df2a5c7a71f449e0 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Fri, 10 May 2024 07:45:32 +0100 Subject: [PATCH 04/22] Enable logging all the information returned by the `forward` methods of policies (#151) --- lerobot/common/logger.py | 5 +++++ lerobot/common/policies/act/modeling_act.py | 4 ++-- lerobot/common/policies/policy_protocol.py | 3 ++- lerobot/scripts/train.py | 4 +++- .../aloha_act/output_dict.safetensors | Bin 196 -> 68 bytes 5 files changed, 12 insertions(+), 4 deletions(-) diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py index 8e7fe7f2..7a3e6eac 100644 --- a/lerobot/common/logger.py +++ b/lerobot/common/logger.py @@ -114,6 +114,11 @@ 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"): diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index 5ff25fea..a795d87b 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -101,7 +101,7 @@ 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 Dā‚–ā‚—(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 +110,7 @@ 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 diff --git a/lerobot/common/policies/policy_protocol.py b/lerobot/common/policies/policy_protocol.py index 5749c6a8..b00cff5c 100644 --- a/lerobot/common/policies/policy_protocol.py +++ b/lerobot/common/policies/policy_protocol.py @@ -38,7 +38,8 @@ 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]): diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index d5fedc84..7319e03f 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -72,6 +72,7 @@ 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 +100,7 @@ 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 +124,7 @@ 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"] diff --git a/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors index 02235e1713c7e9442a9432fe2ded6759864ae4ef..4c738f3972e7298fa60f0b4299365f62064da75a 100644 GIT binary patch delta 27 ecmX@Y=)!5i00Gq#>kPRJbWCDvYiE5gaRLBM6$d^5 delta 62 zcmZ=c!pOIQ0RpO(vU5`6Cvusx>L}$H0vQHuCOQ_ewK@|y4Mi<<42@!IYZVmCN)I?3 MThwDe>wAe40M Date: Sat, 11 May 2024 12:45:51 +0100 Subject: [PATCH 05/22] Remove torchrl acknowledgement (#177) --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index a305dbff..a936ecfe 100644 --- a/README.md +++ b/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. From ced3de4c94f4fa1996246095d973de42c037fa29 Mon Sep 17 00:00:00 2001 From: Remi Date: Sat, 11 May 2024 19:28:22 +0300 Subject: [PATCH 06/22] Fix hanging in visualize_dataset.py when num_workers > 0 (#165) --- lerobot/scripts/visualize_dataset.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/lerobot/scripts/visualize_dataset.py b/lerobot/scripts/visualize_dataset.py index 1835e90c..d4fafe67 100644 --- a/lerobot/scripts/visualize_dataset.py +++ b/lerobot/scripts/visualize_dataset.py @@ -47,6 +47,7 @@ local$ rerun ws://localhost:9087 """ import argparse +import gc import logging import time from pathlib import Path @@ -115,15 +116,17 @@ 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 +199,7 @@ 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( From 29a196c5dd38bb526a232300c83bbcddd2851186 Mon Sep 17 00:00:00 2001 From: Simon Alibert <75076266+aliberts@users.noreply.github.com> Date: Sun, 12 May 2024 08:08:59 +0200 Subject: [PATCH 07/22] Fix #173 - Require gym-pusht to be installed for test_examples_3_and_2 (#174) --- .github/workflows/test.yml | 32 ++++++++++++++++++++++++++++++++ tests/test_examples.py | 3 +++ tests/utils.py | 19 ++++++++++++++++++- 3 files changed, 53 insertions(+), 1 deletion(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index f86e4f8e..45feabdc 100644 --- a/.github/workflows/test.yml +++ b/.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 diff --git a/tests/test_examples.py b/tests/test_examples.py index c1f3c1dc..543eb022 100644 --- a/tests/test_examples.py +++ b/tests/test_examples.py @@ -3,6 +3,8 @@ 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 +23,7 @@ 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. diff --git a/tests/utils.py b/tests/utils.py index 6a706694..74e3ba8f 100644 --- a/tests/utils.py +++ b/tests/utils.py @@ -1,4 +1,5 @@ import platform +from functools import wraps import pytest import torch @@ -61,7 +62,6 @@ 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 +82,20 @@ 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 From fc5cf3d84a33683bcb4c3c0491ef20d9ea4a2af1 Mon Sep 17 00:00:00 2001 From: AshisGhosh Date: Sat, 11 May 2024 23:13:12 -0700 Subject: [PATCH 08/22] Fixes issue #152 - error with creating wandb artifact (#172) Co-authored-by: Ashis Ghosh Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> --- lerobot/common/logger.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py index 7a3e6eac..ea8db050 100644 --- a/lerobot/common/logger.py +++ b/lerobot/common/logger.py @@ -82,9 +82,9 @@ 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 +94,10 @@ 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) From 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"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" diff --git a/pyproject.toml b/pyproject.toml index 56c84416..24d9452d 100644 --- a/pyproject.toml +++ b/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" From f52f4f2cd2975686f8f8037d8396544712231475 Mon Sep 17 00:00:00 2001 From: Simon Alibert <75076266+aliberts@users.noreply.github.com> Date: Wed, 15 May 2024 12:13:09 +0200 Subject: [PATCH 10/22] Add copyrights (#157) --- lerobot/__init__.py | 15 +++++++++++++++ lerobot/__version__.py | 15 +++++++++++++++ .../_video_benchmark/run_video_benchmark.py | 15 +++++++++++++++ lerobot/common/datasets/factory.py | 15 +++++++++++++++ lerobot/common/datasets/lerobot_dataset.py | 15 +++++++++++++++ .../_diffusion_policy_replay_buffer.py | 15 +++++++++++++++ .../push_dataset_to_hub/_download_raw.py | 15 +++++++++++++++ .../_umi_imagecodecs_numcodecs.py | 15 +++++++++++++++ .../push_dataset_to_hub/aloha_hdf5_format.py | 15 +++++++++++++++ .../push_dataset_to_hub/compute_stats.py | 15 +++++++++++++++ .../push_dataset_to_hub/pusht_zarr_format.py | 15 +++++++++++++++ .../push_dataset_to_hub/umi_zarr_format.py | 15 +++++++++++++++ .../common/datasets/push_dataset_to_hub/utils.py | 15 +++++++++++++++ .../push_dataset_to_hub/xarm_pkl_format.py | 15 +++++++++++++++ lerobot/common/datasets/utils.py | 15 +++++++++++++++ lerobot/common/datasets/video_utils.py | 15 +++++++++++++++ lerobot/common/envs/factory.py | 15 +++++++++++++++ lerobot/common/envs/utils.py | 15 +++++++++++++++ lerobot/common/logger.py | 15 +++++++++++++++ lerobot/common/policies/act/configuration_act.py | 15 +++++++++++++++ lerobot/common/policies/act/modeling_act.py | 15 +++++++++++++++ .../diffusion/configuration_diffusion.py | 16 ++++++++++++++++ .../policies/diffusion/modeling_diffusion.py | 16 ++++++++++++++++ lerobot/common/policies/factory.py | 15 +++++++++++++++ lerobot/common/policies/normalize.py | 15 +++++++++++++++ lerobot/common/policies/policy_protocol.py | 15 +++++++++++++++ .../common/policies/tdmpc/configuration_tdmpc.py | 16 ++++++++++++++++ lerobot/common/policies/tdmpc/modeling_tdmpc.py | 16 ++++++++++++++++ lerobot/common/policies/utils.py | 15 +++++++++++++++ lerobot/common/utils/import_utils.py | 15 +++++++++++++++ lerobot/common/utils/io_utils.py | 15 +++++++++++++++ lerobot/common/utils/utils.py | 15 +++++++++++++++ lerobot/scripts/display_sys_info.py | 15 +++++++++++++++ lerobot/scripts/eval.py | 15 +++++++++++++++ lerobot/scripts/push_dataset_to_hub.py | 15 +++++++++++++++ lerobot/scripts/train.py | 15 +++++++++++++++ lerobot/scripts/visualize_dataset.py | 15 +++++++++++++++ tests/conftest.py | 15 +++++++++++++++ tests/scripts/save_dataset_to_safetensors.py | 15 +++++++++++++++ tests/scripts/save_policy_to_safetensor.py | 15 +++++++++++++++ tests/test_available.py | 15 +++++++++++++++ tests/test_datasets.py | 15 +++++++++++++++ tests/test_envs.py | 15 +++++++++++++++ tests/test_examples.py | 15 +++++++++++++++ tests/test_policies.py | 15 +++++++++++++++ tests/test_visualize_dataset.py | 15 +++++++++++++++ tests/utils.py | 15 +++++++++++++++ 47 files changed, 709 insertions(+) diff --git a/lerobot/__init__.py b/lerobot/__init__.py index 072f4bc7..e188bc52 100644 --- a/lerobot/__init__.py +++ b/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. diff --git a/lerobot/__version__.py b/lerobot/__version__.py index 6232b699..d12aafaa 100644 --- a/lerobot/__version__.py +++ b/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 diff --git a/lerobot/common/datasets/_video_benchmark/run_video_benchmark.py b/lerobot/common/datasets/_video_benchmark/run_video_benchmark.py index 85d48fcf..8be251dc 100644 --- a/lerobot/common/datasets/_video_benchmark/run_video_benchmark.py +++ b/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 diff --git a/lerobot/common/datasets/factory.py b/lerobot/common/datasets/factory.py index 22dd1789..78967db6 100644 --- a/lerobot/common/datasets/factory.py +++ b/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 diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index f7bc5bd2..21d09879 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/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 diff --git a/lerobot/common/datasets/push_dataset_to_hub/_diffusion_policy_replay_buffer.py b/lerobot/common/datasets/push_dataset_to_hub/_diffusion_policy_replay_buffer.py index 2f532650..33b4c974 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_diffusion_policy_replay_buffer.py +++ b/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. diff --git a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py index d26f3d23..232fd055 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py +++ b/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. diff --git a/lerobot/common/datasets/push_dataset_to_hub/_umi_imagecodecs_numcodecs.py b/lerobot/common/datasets/push_dataset_to_hub/_umi_imagecodecs_numcodecs.py index 1561fb88..a118b7e7 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_umi_imagecodecs_numcodecs.py +++ b/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 diff --git a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py index f51a59cd..4efadc9e 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py +++ b/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 """ diff --git a/lerobot/common/datasets/push_dataset_to_hub/compute_stats.py b/lerobot/common/datasets/push_dataset_to_hub/compute_stats.py index a7a952fb..ec296658 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/compute_stats.py +++ b/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 diff --git a/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py b/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py index 0c3a8d19..8133a36a 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py +++ b/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 diff --git a/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py b/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py index 00828750..cab2bdc5 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py +++ b/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 diff --git a/lerobot/common/datasets/push_dataset_to_hub/utils.py b/lerobot/common/datasets/push_dataset_to_hub/utils.py index 1b12c0b7..4feb1dcf 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/utils.py +++ b/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 diff --git a/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py b/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py index 686edf4c..899ebdde 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py +++ b/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 diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py index 96b8fbbc..5cdd5f7c 100644 --- a/lerobot/common/datasets/utils.py +++ b/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 diff --git a/lerobot/common/datasets/video_utils.py b/lerobot/common/datasets/video_utils.py index 0252be2e..edfca918 100644 --- a/lerobot/common/datasets/video_utils.py +++ b/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 diff --git a/lerobot/common/envs/factory.py b/lerobot/common/envs/factory.py index c5fd4671..83f94cfe 100644 --- a/lerobot/common/envs/factory.py +++ b/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 diff --git a/lerobot/common/envs/utils.py b/lerobot/common/envs/utils.py index 5370d385..8fce0369 100644 --- a/lerobot/common/envs/utils.py +++ b/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 diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py index ea8db050..109f6951 100644 --- a/lerobot/common/logger.py +++ b/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""" diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index a3980b14..95f443da 100644 --- a/lerobot/common/policies/act/configuration_act.py +++ b/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 diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index a795d87b..e85a3736 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/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). diff --git a/lerobot/common/policies/diffusion/configuration_diffusion.py b/lerobot/common/policies/diffusion/configuration_diffusion.py index 28a514ab..d0554942 100644 --- a/lerobot/common/policies/diffusion/configuration_diffusion.py +++ b/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 diff --git a/lerobot/common/policies/diffusion/modeling_diffusion.py b/lerobot/common/policies/diffusion/modeling_diffusion.py index 3115160f..c67040b6 100644 --- a/lerobot/common/policies/diffusion/modeling_diffusion.py +++ b/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): diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py index a819d18f..4c124b61 100644 --- a/lerobot/common/policies/factory.py +++ b/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 diff --git a/lerobot/common/policies/normalize.py b/lerobot/common/policies/normalize.py index ab57c8ba..d638c541 100644 --- a/lerobot/common/policies/normalize.py +++ b/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 diff --git a/lerobot/common/policies/policy_protocol.py b/lerobot/common/policies/policy_protocol.py index b00cff5c..38738a90 100644 --- a/lerobot/common/policies/policy_protocol.py +++ b/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 diff --git a/lerobot/common/policies/tdmpc/configuration_tdmpc.py b/lerobot/common/policies/tdmpc/configuration_tdmpc.py index 00d00913..ddf52248 100644 --- a/lerobot/common/policies/tdmpc/configuration_tdmpc.py +++ b/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 diff --git a/lerobot/common/policies/tdmpc/modeling_tdmpc.py b/lerobot/common/policies/tdmpc/modeling_tdmpc.py index 1fba43d0..70e78c98 100644 --- a/lerobot/common/policies/tdmpc/modeling_tdmpc.py +++ b/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: diff --git a/lerobot/common/policies/utils.py b/lerobot/common/policies/utils.py index b23c1336..8f7b6eec 100644 --- a/lerobot/common/policies/utils.py +++ b/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 diff --git a/lerobot/common/utils/import_utils.py b/lerobot/common/utils/import_utils.py index 642e0ff1..cd5f8245 100644 --- a/lerobot/common/utils/import_utils.py +++ b/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 diff --git a/lerobot/common/utils/io_utils.py b/lerobot/common/utils/io_utils.py index 5d727bd7..b85f17c7 100644 --- a/lerobot/common/utils/io_utils.py +++ b/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 diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py index 8fe621f4..d62507b5 100644 --- a/lerobot/common/utils/utils.py +++ b/lerobot/common/utils/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 os.path as osp import random diff --git a/lerobot/scripts/display_sys_info.py b/lerobot/scripts/display_sys_info.py index e4ea4260..4d8b4850 100644 --- a/lerobot/scripts/display_sys_info.py +++ b/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 diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py index e4a9bfef..9c95633a 100644 --- a/lerobot/scripts/eval.py +++ b/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: diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py index dfac410b..16d890a7 100644 --- a/lerobot/scripts/push_dataset_to_hub.py +++ b/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 diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index 7319e03f..ab07695b 100644 --- a/lerobot/scripts/train.py +++ b/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 diff --git a/lerobot/scripts/visualize_dataset.py b/lerobot/scripts/visualize_dataset.py index d4fafe67..58da6a47 100644 --- a/lerobot/scripts/visualize_dataset.py +++ b/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. diff --git a/tests/conftest.py b/tests/conftest.py index 856ca455..62f831aa 100644 --- a/tests/conftest.py +++ b/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 diff --git a/tests/scripts/save_dataset_to_safetensors.py b/tests/scripts/save_dataset_to_safetensors.py index 17cf2b38..554efe75 100644 --- a/tests/scripts/save_dataset_to_safetensors.py +++ b/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 diff --git a/tests/scripts/save_policy_to_safetensor.py b/tests/scripts/save_policy_to_safetensor.py index 29e9a34f..e79a94ff 100644 --- a/tests/scripts/save_policy_to_safetensor.py +++ b/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 diff --git a/tests/test_available.py b/tests/test_available.py index ead9296a..db5bd520 100644 --- a/tests/test_available.py +++ b/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 diff --git a/tests/test_datasets.py b/tests/test_datasets.py index 1d93d48f..afea16a5 100644 --- a/tests/test_datasets.py +++ b/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 diff --git a/tests/test_envs.py b/tests/test_envs.py index f172a645..aec9999d 100644 --- a/tests/test_envs.py +++ b/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 diff --git a/tests/test_examples.py b/tests/test_examples.py index 543eb022..de95a991 100644 --- a/tests/test_examples.py +++ b/tests/test_examples.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(aliberts): Mute logging for these tests import subprocess import sys diff --git a/tests/test_policies.py b/tests/test_policies.py index f0fa7c56..c8457854 100644 --- a/tests/test_policies.py +++ b/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 diff --git a/tests/test_visualize_dataset.py b/tests/test_visualize_dataset.py index 0124afd3..99954040 100644 --- a/tests/test_visualize_dataset.py +++ b/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 diff --git a/tests/utils.py b/tests/utils.py index 74e3ba8f..ba49ee70 100644 --- a/tests/utils.py +++ b/tests/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 platform from functools import wraps From 68c1b13406068b9d88afbfcb2366f927141514f3 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Thu, 16 May 2024 13:51:53 +0100 Subject: [PATCH 11/22] Make policies compatible with other/multiple image keys (#149) --- .../common/policies/act/configuration_act.py | 7 --- lerobot/common/policies/act/modeling_act.py | 46 +++++++------------ .../diffusion/configuration_diffusion.py | 17 +++++-- .../policies/diffusion/modeling_diffusion.py | 34 +++++++++----- .../policies/tdmpc/configuration_tdmpc.py | 12 +++-- .../common/policies/tdmpc/modeling_tdmpc.py | 20 ++++---- lerobot/common/policies/utils.py | 4 ++ lerobot/scripts/train.py | 3 +- tests/test_policies.py | 33 +++++++++++++ 9 files changed, 107 insertions(+), 69 deletions(-) diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index 95f443da..be444b06 100644 --- a/lerobot/common/policies/act/configuration_act.py +++ b/lerobot/common/policies/act/configuration_act.py @@ -145,10 +145,3 @@ class ACTConfig: raise ValueError( f"Multiple observation steps not handled yet. Got `nobs_steps={self.n_obs_steps}`" ) - # Check that there is only one image. - # TODO(alexander-soare): generalize this to multiple images. - if ( - sum(k.startswith("observation.images.") for k in self.input_shapes) != 1 - or "observation.images.top" not in self.input_shapes - ): - raise ValueError('For now, only "observation.images.top" is accepted for an image input.') diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index e85a3736..4a8df1ce 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -62,6 +62,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): if config is None: config = ACTConfig() self.config = config + self.normalize_inputs = Normalize( config.input_shapes, config.input_normalization_modes, dataset_stats ) @@ -71,8 +72,13 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): self.unnormalize_outputs = Unnormalize( config.output_shapes, config.output_normalization_modes, dataset_stats ) + self.model = ACT(config) + self.expected_image_keys = [k for k in config.input_shapes if k.startswith("observation.image")] + + self.reset() + def reset(self): """This should be called whenever the environment is reset.""" if self.config.n_action_steps is not None: @@ -86,13 +92,10 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): environment. It works by managing the actions in a queue and only calling `select_actions` when the queue is empty. """ - assert "observation.images.top" in batch - assert "observation.state" in batch - self.eval() batch = self.normalize_inputs(batch) - self._stack_images(batch) + batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4) if len(self._action_queue) == 0: # `self.model.forward` returns a (batch_size, n_action_steps, action_dim) tensor, but the queue @@ -108,8 +111,8 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]: """Run the batch through the model and compute the loss for training or validation.""" batch = self.normalize_inputs(batch) + batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4) batch = self.normalize_targets(batch) - self._stack_images(batch) actions_hat, (mu_hat, log_sigma_x2_hat) = self.model(batch) l1_loss = ( @@ -132,21 +135,6 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): return loss_dict - def _stack_images(self, batch: dict[str, Tensor]) -> dict[str, Tensor]: - """Stacks all the images in a batch and puts them in a new key: "observation.images". - - This function expects `batch` to have (at least): - { - "observation.state": (B, state_dim) batch of robot states. - "observation.images.{name}": (B, C, H, W) tensor of images. - } - """ - # Stack images in the order dictated by input_shapes. - batch["observation.images"] = torch.stack( - [batch[k] for k in self.config.input_shapes if k.startswith("observation.images.")], - dim=-4, - ) - class ACT(nn.Module): """Action Chunking Transformer: The underlying neural network for ACTPolicy. @@ -176,10 +164,10 @@ class ACT(nn.Module): ā”‚ encoder ā”‚ ā”‚ ā”‚ ā”‚Transf.ā”‚ ā”‚ ā”‚ ā”‚ ā”‚ ā”‚ ā”‚encoderā”‚ ā”‚ ā””ā”€ā”€ā”€ā–²ā”€ā”€ā”€ā”€ā”€ā”˜ ā”‚ ā”‚ ā”‚ ā”‚ ā”‚ - ā”‚ ā”‚ ā”‚ ā””ā”€ā”€ā”€ā–²ā”€ā”€ā”€ā”˜ ā”‚ - ā”‚ ā”‚ ā”‚ ā”‚ ā”‚ - inputs ā””ā”€ā”€ā”€ā”€ā”€ā”¼ā”€ā”€ā”€ā”€ā”€ā”˜ ā”‚ - ā”‚ ā”‚ + ā”‚ ā”‚ ā”‚ ā””ā–²ā”€ā”€ā–²ā”€ā–²ā”€ā”˜ ā”‚ + ā”‚ ā”‚ ā”‚ ā”‚ ā”‚ ā”‚ ā”‚ + inputs ā””ā”€ā”€ā”€ā”€ā”€ā”¼ā”€ā”€ā”˜ ā”‚ image emb. ā”‚ + ā”‚ state emb. ā”‚ ā””ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”€ā”˜ """ @@ -321,18 +309,18 @@ class ACT(nn.Module): all_cam_features.append(cam_features) all_cam_pos_embeds.append(cam_pos_embed) # Concatenate camera observation feature maps and positional embeddings along the width dimension. - encoder_in = torch.cat(all_cam_features, axis=3) - cam_pos_embed = torch.cat(all_cam_pos_embeds, axis=3) + encoder_in = torch.cat(all_cam_features, axis=-1) + cam_pos_embed = torch.cat(all_cam_pos_embeds, axis=-1) # Get positional embeddings for robot state and latent. - robot_state_embed = self.encoder_robot_state_input_proj(batch["observation.state"]) - latent_embed = self.encoder_latent_input_proj(latent_sample) + robot_state_embed = self.encoder_robot_state_input_proj(batch["observation.state"]) # (B, C) + latent_embed = self.encoder_latent_input_proj(latent_sample) # (B, C) # Stack encoder input and positional embeddings moving to (S, B, C). encoder_in = torch.cat( [ torch.stack([latent_embed, robot_state_embed], axis=0), - encoder_in.flatten(2).permute(2, 0, 1), + einops.rearrange(encoder_in, "b c h w -> (h w) b c"), ] ) pos_embed = torch.cat( diff --git a/lerobot/common/policies/diffusion/configuration_diffusion.py b/lerobot/common/policies/diffusion/configuration_diffusion.py index d0554942..632f6cd6 100644 --- a/lerobot/common/policies/diffusion/configuration_diffusion.py +++ b/lerobot/common/policies/diffusion/configuration_diffusion.py @@ -148,14 +148,21 @@ class DiffusionConfig: raise ValueError( f"`vision_backbone` must be one of the ResNet variants. Got {self.vision_backbone}." ) + # There should only be one image key. + image_keys = {k for k in self.input_shapes if k.startswith("observation.image")} + if len(image_keys) != 1: + raise ValueError( + f"{self.__class__.__name__} only handles one image for now. Got image keys {image_keys}." + ) + image_key = next(iter(image_keys)) if ( - self.crop_shape[0] > self.input_shapes["observation.image"][1] - or self.crop_shape[1] > self.input_shapes["observation.image"][2] + self.crop_shape[0] > self.input_shapes[image_key][1] + or self.crop_shape[1] > self.input_shapes[image_key][2] ): raise ValueError( - f'`crop_shape` should fit within `input_shapes["observation.image"]`. Got {self.crop_shape} ' - f'for `crop_shape` and {self.input_shapes["observation.image"]} for ' - '`input_shapes["observation.image"]`.' + f"`crop_shape` should fit within `input_shapes[{image_key}]`. Got {self.crop_shape} " + f"for `crop_shape` and {self.input_shapes[image_key]} for " + "`input_shapes[{image_key}]`." ) supported_prediction_types = ["epsilon", "sample"] if self.prediction_type not in supported_prediction_types: diff --git a/lerobot/common/policies/diffusion/modeling_diffusion.py b/lerobot/common/policies/diffusion/modeling_diffusion.py index c67040b6..1659b68e 100644 --- a/lerobot/common/policies/diffusion/modeling_diffusion.py +++ b/lerobot/common/policies/diffusion/modeling_diffusion.py @@ -19,6 +19,7 @@ TODO(alexander-soare): - Remove reliance on Robomimic for SpatialSoftmax. - Remove reliance on diffusers for DDPMScheduler and LR scheduler. + - Make compatible with multiple image keys. """ import math @@ -83,10 +84,18 @@ class DiffusionPolicy(nn.Module, PyTorchModelHubMixin): self.diffusion = DiffusionModel(config) + image_keys = [k for k in config.input_shapes if k.startswith("observation.image")] + # Note: This check is covered in the post-init of the config but have a sanity check just in case. + if len(image_keys) != 1: + raise NotImplementedError( + f"{self.__class__.__name__} only handles one image for now. Got image keys {image_keys}." + ) + self.input_image_key = image_keys[0] + + self.reset() + def reset(self): - """ - Clear observation and action queues. Should be called on `env.reset()` - """ + """Clear observation and action queues. Should be called on `env.reset()`""" self._queues = { "observation.image": deque(maxlen=self.config.n_obs_steps), "observation.state": deque(maxlen=self.config.n_obs_steps), @@ -115,16 +124,14 @@ class DiffusionPolicy(nn.Module, PyTorchModelHubMixin): "horizon" may not the best name to describe what the variable actually means, because this period is actually measured from the first observation which (if `n_obs_steps` > 1) happened in the past. """ - assert "observation.image" in batch - assert "observation.state" in batch - batch = self.normalize_inputs(batch) + batch["observation.image"] = batch[self.input_image_key] self._queues = populate_queues(self._queues, batch) if len(self._queues["action"]) == 0: # stack n latest observations from the queue - batch = {key: torch.stack(list(self._queues[key]), dim=1) for key in batch} + batch = {k: torch.stack(list(self._queues[k]), dim=1) for k in batch if k in self._queues} actions = self.diffusion.generate_actions(batch) # TODO(rcadene): make above methods return output dictionary? @@ -138,6 +145,7 @@ class DiffusionPolicy(nn.Module, PyTorchModelHubMixin): def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]: """Run the batch through the model and compute the loss for training or validation.""" batch = self.normalize_inputs(batch) + batch["observation.image"] = batch[self.input_image_key] batch = self.normalize_targets(batch) loss = self.diffusion.compute_loss(batch) return {"loss": loss} @@ -215,13 +223,12 @@ class DiffusionModel(nn.Module): def generate_actions(self, batch: dict[str, Tensor]) -> Tensor: """ - This function expects `batch` to have (at least): + This function expects `batch` to have: { "observation.state": (B, n_obs_steps, state_dim) "observation.image": (B, n_obs_steps, C, H, W) } """ - assert set(batch).issuperset({"observation.state", "observation.image"}) batch_size, n_obs_steps = batch["observation.state"].shape[:2] assert n_obs_steps == self.config.n_obs_steps @@ -345,9 +352,12 @@ class DiffusionRgbEncoder(nn.Module): # Set up pooling and final layers. # Use a dry run to get the feature map shape. - # The dummy input should take the number of image channels from `config.input_shapes` and it should use the - # height and width from `config.crop_shape`. - dummy_input = torch.zeros(size=(1, config.input_shapes["observation.image"][0], *config.crop_shape)) + # The dummy input should take the number of image channels from `config.input_shapes` and it should + # use the height and width from `config.crop_shape`. + image_keys = [k for k in config.input_shapes if k.startswith("observation.image")] + assert len(image_keys) == 1 + image_key = image_keys[0] + dummy_input = torch.zeros(size=(1, config.input_shapes[image_key][0], *config.crop_shape)) with torch.inference_mode(): dummy_feature_map = self.backbone(dummy_input) feature_map_shape = tuple(dummy_feature_map.shape[1:]) diff --git a/lerobot/common/policies/tdmpc/configuration_tdmpc.py b/lerobot/common/policies/tdmpc/configuration_tdmpc.py index ddf52248..cf76fb08 100644 --- a/lerobot/common/policies/tdmpc/configuration_tdmpc.py +++ b/lerobot/common/policies/tdmpc/configuration_tdmpc.py @@ -147,12 +147,18 @@ class TDMPCConfig: def __post_init__(self): """Input validation (not exhaustive).""" - if self.input_shapes["observation.image"][-2] != self.input_shapes["observation.image"][-1]: + # There should only be one image key. + image_keys = {k for k in self.input_shapes if k.startswith("observation.image")} + if len(image_keys) != 1: + raise ValueError( + f"{self.__class__.__name__} only handles one image for now. Got image keys {image_keys}." + ) + image_key = next(iter(image_keys)) + if self.input_shapes[image_key][-2] != self.input_shapes[image_key][-1]: # TODO(alexander-soare): This limitation is solely because of code in the random shift # augmentation. It should be able to be removed. raise ValueError( - "Only square images are handled now. Got image shape " - f"{self.input_shapes['observation.image']}." + f"Only square images are handled now. Got image shape {self.input_shapes[image_key]}." ) if self.n_gaussian_samples <= 0: raise ValueError( diff --git a/lerobot/common/policies/tdmpc/modeling_tdmpc.py b/lerobot/common/policies/tdmpc/modeling_tdmpc.py index 70e78c98..7c873bf2 100644 --- a/lerobot/common/policies/tdmpc/modeling_tdmpc.py +++ b/lerobot/common/policies/tdmpc/modeling_tdmpc.py @@ -112,13 +112,12 @@ class TDMPCPolicy(nn.Module, PyTorchModelHubMixin): config.output_shapes, config.output_normalization_modes, dataset_stats ) - def save(self, fp): - """Save state dict of TOLD model to filepath.""" - torch.save(self.state_dict(), fp) + image_keys = [k for k in config.input_shapes if k.startswith("observation.image")] + # Note: This check is covered in the post-init of the config but have a sanity check just in case. + assert len(image_keys) == 1 + self.input_image_key = image_keys[0] - def load(self, fp): - """Load a saved state dict from filepath into current agent.""" - self.load_state_dict(torch.load(fp)) + self.reset() def reset(self): """ @@ -137,10 +136,8 @@ class TDMPCPolicy(nn.Module, PyTorchModelHubMixin): @torch.no_grad() def select_action(self, batch: dict[str, Tensor]): """Select a single action given environment observations.""" - assert "observation.image" in batch - assert "observation.state" in batch - batch = self.normalize_inputs(batch) + batch["observation.image"] = batch[self.input_image_key] self._queues = populate_queues(self._queues, batch) @@ -319,13 +316,11 @@ class TDMPCPolicy(nn.Module, PyTorchModelHubMixin): device = get_device_from_parameters(self) batch = self.normalize_inputs(batch) + batch["observation.image"] = batch[self.input_image_key] batch = self.normalize_targets(batch) info = {} - # TODO(alexander-soare): Refactor TDMPC and make it comply with the policy interface documentation. - batch_size = batch["index"].shape[0] - # (b, t) -> (t, b) for key in batch: if batch[key].ndim > 1: @@ -353,6 +348,7 @@ class TDMPCPolicy(nn.Module, PyTorchModelHubMixin): # Run latent rollout using the latent dynamics model and policy model. # Note this has shape `horizon+1` because there are `horizon` actions and a current `z`. Each action # gives us a next `z`. + batch_size = batch["index"].shape[0] z_preds = torch.empty(horizon + 1, batch_size, self.config.latent_dim, device=device) z_preds[0] = self.model.encode(current_observation) reward_preds = torch.empty_like(reward, device=device) diff --git a/lerobot/common/policies/utils.py b/lerobot/common/policies/utils.py index 8f7b6eec..5a62daa2 100644 --- a/lerobot/common/policies/utils.py +++ b/lerobot/common/policies/utils.py @@ -19,6 +19,10 @@ from torch import nn def populate_queues(queues, batch): for key in batch: + # Ignore keys not in the queues already (leaving the responsibility to the caller to make sure the + # queues have the keys they want). + if key not in queues: + continue if len(queues[key]) != queues[key].maxlen: # initialize by copying the first observation several times until the queue is full while len(queues[key]) != queues[key].maxlen: diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index ab07695b..7ca7a0b3 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -23,6 +23,7 @@ import hydra import torch from datasets import concatenate_datasets from datasets.utils import disable_progress_bars, enable_progress_bars +from omegaconf import DictConfig from lerobot.common.datasets.factory import make_dataset from lerobot.common.datasets.utils import cycle @@ -307,7 +308,7 @@ def add_episodes_inplace( sampler.num_samples = len(concat_dataset) -def train(cfg: dict, out_dir=None, job_name=None): +def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = None): if out_dir is None: raise NotImplementedError() if job_name is None: diff --git a/tests/test_policies.py b/tests/test_policies.py index c8457854..75633fe6 100644 --- a/tests/test_policies.py +++ b/tests/test_policies.py @@ -64,6 +64,14 @@ def test_get_policy_and_config_classes(policy_name: str): "act", ["env.task=AlohaTransferCube-v0", "dataset_repo_id=lerobot/aloha_sim_transfer_cube_scripted"], ), + # Note: these parameters also need custom logic in the test function for overriding the Hydra config. + ( + "aloha", + "diffusion", + ["env.task=AlohaInsertion-v0", "dataset_repo_id=lerobot/aloha_sim_insertion_human"], + ), + # Note: these parameters also need custom logic in the test function for overriding the Hydra config. + ("pusht", "act", ["env.task=PushT-v0", "dataset_repo_id=lerobot/pusht"]), ], ) @require_env @@ -87,6 +95,31 @@ def test_policy(env_name, policy_name, extra_overrides): + extra_overrides, ) + # Additional config override logic. + if env_name == "aloha" and policy_name == "diffusion": + for keys in [ + ("training", "delta_timestamps"), + ("policy", "input_shapes"), + ("policy", "input_normalization_modes"), + ]: + dct = dict(cfg[keys[0]][keys[1]]) + dct["observation.images.top"] = dct["observation.image"] + del dct["observation.image"] + cfg[keys[0]][keys[1]] = dct + cfg.override_dataset_stats = None + + # Additional config override logic. + if env_name == "pusht" and policy_name == "act": + for keys in [ + ("policy", "input_shapes"), + ("policy", "input_normalization_modes"), + ]: + dct = dict(cfg[keys[0]][keys[1]]) + dct["observation.image"] = dct["observation.images.top"] + del dct["observation.images.top"] + cfg[keys[0]][keys[1]] = dct + cfg.override_dataset_stats = None + # Check that we can make the policy object. dataset = make_dataset(cfg) policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats) From c9069df9f1e09a98f193eacc7241adead2d10553 Mon Sep 17 00:00:00 2001 From: Akshay Kashyap Date: Thu, 16 May 2024 10:34:10 -0400 Subject: [PATCH 12/22] Port SpatialSoftmax and remove Robomimic dependency (#182) Co-authored-by: Alexander Soare --- .../policies/diffusion/modeling_diffusion.py | 74 +++++++- poetry.lock | 179 +----------------- pyproject.toml | 1 - .../pusht_diffusion/actions.safetensors | Bin 4600 -> 4600 bytes .../pusht_diffusion/grad_stats.safetensors | Bin 47424 -> 47424 bytes .../pusht_diffusion/output_dict.safetensors | Bin 68 -> 68 bytes .../pusht_diffusion/param_stats.safetensors | Bin 49120 -> 49120 bytes 7 files changed, 75 insertions(+), 179 deletions(-) diff --git a/lerobot/common/policies/diffusion/modeling_diffusion.py b/lerobot/common/policies/diffusion/modeling_diffusion.py index 1659b68e..2ae03f22 100644 --- a/lerobot/common/policies/diffusion/modeling_diffusion.py +++ b/lerobot/common/policies/diffusion/modeling_diffusion.py @@ -17,7 +17,6 @@ """Diffusion Policy as per "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion" TODO(alexander-soare): - - Remove reliance on Robomimic for SpatialSoftmax. - Remove reliance on diffusers for DDPMScheduler and LR scheduler. - Make compatible with multiple image keys. """ @@ -27,13 +26,13 @@ from collections import deque from typing import Callable import einops +import numpy as np import torch import torch.nn.functional as F # noqa: N812 import torchvision from diffusers.schedulers.scheduling_ddim import DDIMScheduler from diffusers.schedulers.scheduling_ddpm import DDPMScheduler from huggingface_hub import PyTorchModelHubMixin -from robomimic.models.base_nets import SpatialSoftmax from torch import Tensor, nn from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig @@ -312,6 +311,77 @@ class DiffusionModel(nn.Module): return loss.mean() +class SpatialSoftmax(nn.Module): + """ + Spatial Soft Argmax operation described in "Deep Spatial Autoencoders for Visuomotor Learning" by Finn et al. + (https://arxiv.org/pdf/1509.06113). A minimal port of the robomimic implementation. + + At a high level, this takes 2D feature maps (from a convnet/ViT) and returns the "center of mass" + of activations of each channel, i.e., keypoints in the image space for the policy to focus on. + + Example: take feature maps of size (512x10x12). We generate a grid of normalized coordinates (10x12x2): + ----------------------------------------------------- + | (-1., -1.) | (-0.82, -1.) | ... | (1., -1.) | + | (-1., -0.78) | (-0.82, -0.78) | ... | (1., -0.78) | + | ... | ... | ... | ... | + | (-1., 1.) | (-0.82, 1.) | ... | (1., 1.) | + ----------------------------------------------------- + This is achieved by applying channel-wise softmax over the activations (512x120) and computing the dot + product with the coordinates (120x2) to get expected points of maximal activation (512x2). + + The example above results in 512 keypoints (corresponding to the 512 input channels). We can optionally + provide num_kp != None to control the number of keypoints. This is achieved by a first applying a learnable + linear mapping (in_channels, H, W) -> (num_kp, H, W). + """ + + def __init__(self, input_shape, num_kp=None): + """ + Args: + input_shape (list): (C, H, W) input feature map shape. + num_kp (int): number of keypoints in output. If None, output will have the same number of channels as input. + """ + super().__init__() + + assert len(input_shape) == 3 + self._in_c, self._in_h, self._in_w = input_shape + + if num_kp is not None: + self.nets = torch.nn.Conv2d(self._in_c, num_kp, kernel_size=1) + self._out_c = num_kp + else: + self.nets = None + self._out_c = self._in_c + + # we could use torch.linspace directly but that seems to behave slightly differently than numpy + # and causes a small degradation in pc_success of pre-trained models. + pos_x, pos_y = np.meshgrid(np.linspace(-1.0, 1.0, self._in_w), np.linspace(-1.0, 1.0, self._in_h)) + pos_x = torch.from_numpy(pos_x.reshape(self._in_h * self._in_w, 1)).float() + pos_y = torch.from_numpy(pos_y.reshape(self._in_h * self._in_w, 1)).float() + # register as buffer so it's moved to the correct device. + self.register_buffer("pos_grid", torch.cat([pos_x, pos_y], dim=1)) + + def forward(self, features: Tensor) -> Tensor: + """ + Args: + features: (B, C, H, W) input feature maps. + Returns: + (B, K, 2) image-space coordinates of keypoints. + """ + if self.nets is not None: + features = self.nets(features) + + # [B, K, H, W] -> [B * K, H * W] where K is number of keypoints + features = features.reshape(-1, self._in_h * self._in_w) + # 2d softmax normalization + attention = F.softmax(features, dim=-1) + # [B * K, H * W] x [H * W, 2] -> [B * K, 2] for spatial coordinate mean in x and y dimensions + expected_xy = attention @ self.pos_grid + # reshape to [B, K, 2] + feature_keypoints = expected_xy.view(-1, self._out_c, 2) + + return feature_keypoints + + class DiffusionRgbEncoder(nn.Module): """Encoder an RGB image into a 1D feature vector. diff --git a/poetry.lock b/poetry.lock index 388e03f4..e0b27f15 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4,7 +4,7 @@ name = "absl-py" version = "2.1.0" description = "Abseil Python Common Libraries, see https://github.com/abseil/abseil-py." -optional = false +optional = true python-versions = ">=3.7" files = [ 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b0g;nAz8?W%lUcq$0d$j@zFz?!lli{q5xGhY From 4d7d41cdee1e2406746ff38739fda2c58586e811 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Thu, 16 May 2024 15:43:25 +0100 Subject: [PATCH 13/22] Fix act action queue (#185) --- lerobot/common/policies/act/modeling_act.py | 6 +++--- .../aloha_act/actions.safetensors | Bin 5104 -> 5104 bytes .../aloha_act/grad_stats.safetensors | Bin 31688 -> 31688 bytes 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index 4a8df1ce..3aab03cf 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -98,13 +98,13 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4) if len(self._action_queue) == 0: - # `self.model.forward` returns a (batch_size, n_action_steps, action_dim) tensor, but the queue - # effectively has shape (n_action_steps, batch_size, *), hence the transpose. - actions = self.model(batch)[0][: self.config.n_action_steps] + actions = self.model(batch)[0][:, : self.config.n_action_steps] # TODO(rcadene): make _forward return output dictionary? actions = self.unnormalize_outputs({"action": actions})["action"] + # `self.model.forward` returns a (batch_size, n_action_steps, action_dim) tensor, but the queue + # effectively has shape (n_action_steps, batch_size, *), hence the transpose. self._action_queue.extend(actions.transpose(0, 1)) return self._action_queue.popleft() diff --git a/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors index 7e7ad8e1df015d0ff52d689b317b8d77b3f380fa..3c9447d7fa0b68143216f21c4d9cf5c075253fe4 100644 GIT binary patch literal 5104 zcmb8y`CpCc8wc=ECJFH+l}a6H;gptB=P1v0x19DxyO6P*bCPsUY15ExgprtL#?n}# zO<7tjW9_<7N>MWzW*AG85mBVbl-BPt|AFVX=Xt%}ulw~}_kDd{_Z2--<-cb=&zk4B 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z0o7nsrUw7B>f(NlQ2H&?nI`)y=g89-_m_=8t!5amRvd@j`AW~br_n{1G-h#L4Ud%8 zz~EnfT$!?)TY5U+vLl^fxsP#()T5RM0mbKsm^An8=d=-@WxeTkllV_#LmVC4vx z@{Kn9)NO{7CwkL{vM5$xHy!VK4?>}`?{2u84O`lMD1KKW1wWFpmIf7Ed>CQU2~Egr z(+9qxJw}h2MYBW_W_`mPFI0@czYb!wzMc!MfBRFax`L8i5?E=wA?{pP3-{_LgV_mP zhzPL2^;g~KSVc6eb9cs`!hYcCiE;9lvoOEGm*#FuBHb9J2S<&;XFuNtg~?>lzdaV_ zY_P(gUjeQ5ie_fn4tVBXKQu3kzU3 zfPE0XA}Q+)H^Slz!=RC(?5&S-A#r()FJ7?3*j@6`*kia@d+2b`$gm0By=~S#f#C6zVRlN_% zGNp`H`~{{i?S~&`EX3`%3n3y#L{FTPNN19qDW=ax)iXE2`IrW5I;jhSi{@zG>`o@i zy>aSGd)zzeBRD23K<|AeQ1D{_<@w5JaE@}{47bJhtG8hK6%B|IjDbd5D;y_eq}-pR_6sSyUCLYp zQ*gI>KU669#v)Z^|J0jLSNF!!gh{#=lj<<)iIfRfQ(}A0S}~5&!@I diff --git a/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors index 5188d8f428cdddf509da7f91f29950d9c80ad309..7dfbc3b35cc394e87cd77018d4f427928b9aa637 100644 GIT binary patch delta 110 zcmV-!0FnR5_W{WF0k9BvQS|F*yWiJSJZkQmIefA!Jk{F(xgs{;JMQ7>IWSb)JK|an zIg=~7I~5V|xpws>JPm4_xc^&QI}Rt-xeTT(Je8;;IfRu%JHo>fxUd`sI~9{*cNYn| QUje!FRLwdIWJV(JKkCj zIg=~7I}{P{xpws>JPvA`xc^&QI}az;xeTT(Je8;;IfRu%JHo>fxUd`sI}(#&cNYn` QUje!FRLwd=vw?R<1in}@TmS$7 From 625f0557ef9d2fc6b57604dafb99820d89d1d02e Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Fri, 17 May 2024 14:57:49 +0100 Subject: [PATCH 14/22] Act temporal ensembling (#186) --- .../common/policies/act/configuration_act.py | 17 +++++++---- lerobot/common/policies/act/modeling_act.py | 28 +++++++++++++++++-- lerobot/configs/policy/act.yaml | 2 +- 3 files changed, 39 insertions(+), 8 deletions(-) diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index be444b06..cc072083 100644 --- a/lerobot/common/policies/act/configuration_act.py +++ b/lerobot/common/policies/act/configuration_act.py @@ -66,8 +66,12 @@ class ACTConfig: documentation in the policy class). latent_dim: The VAE's latent dimension. n_vae_encoder_layers: The number of transformer layers to use for the VAE's encoder. - use_temporal_aggregation: Whether to blend the actions of multiple policy invocations for any given - environment step. + temporal_ensemble_momentum: Exponential moving average (EMA) momentum parameter (Ī±) for ensembling + actions for a given time step over multiple policy invocations. Updates are calculated as: + xā»ā‚™ = Ī±xā»ā‚™ā‚‹ā‚ + (1-Ī±)xā‚™. Note that the ACT paper and original ACT code describes a different + parameter here: they refer to a weighting scheme wįµ¢ = exp(-mā‹…i) and set m = 0.01. With our + formulation, this is equivalent to Ī± = exp(-0.01) ā‰ˆ 0.99. When this parameter is provided, we + require `n_action_steps == 1` (since we need to query the policy every step anyway). dropout: Dropout to use in the transformer layers (see code for details). kl_weight: The weight to use for the KL-divergence component of the loss if the variational objective is enabled. Loss is then calculated as: `reconstruction_loss + kl_weight * kld_loss`. @@ -122,7 +126,7 @@ class ACTConfig: n_vae_encoder_layers: int = 4 # Inference. - use_temporal_aggregation: bool = False + temporal_ensemble_momentum: float | None = None # Training and loss computation. dropout: float = 0.1 @@ -134,8 +138,11 @@ class ACTConfig: raise ValueError( f"`vision_backbone` must be one of the ResNet variants. Got {self.vision_backbone}." ) - if self.use_temporal_aggregation: - raise NotImplementedError("Temporal aggregation is not yet implemented.") + if self.temporal_ensemble_momentum is not None and self.n_action_steps > 1: + raise NotImplementedError( + "`n_action_steps` must be 1 when using temporal ensembling. This is " + "because the policy needs to be queried every step to compute the ensembled action." + ) if self.n_action_steps > self.chunk_size: raise ValueError( f"The chunk size is the upper bound for the number of action steps per model invocation. Got " diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index 3aab03cf..72ebdd7a 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -61,7 +61,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): super().__init__() if config is None: config = ACTConfig() - self.config = config + self.config: ACTConfig = config self.normalize_inputs = Normalize( config.input_shapes, config.input_normalization_modes, dataset_stats @@ -81,7 +81,9 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): def reset(self): """This should be called whenever the environment is reset.""" - if self.config.n_action_steps is not None: + if self.config.temporal_ensemble_momentum is not None: + self._ensembled_actions = None + else: self._action_queue = deque([], maxlen=self.config.n_action_steps) @torch.no_grad @@ -97,6 +99,28 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): batch = self.normalize_inputs(batch) batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4) + # If we are doing temporal ensembling, keep track of the exponential moving average (EMA), and return + # the first action. + if self.config.temporal_ensemble_momentum is not None: + actions = self.model(batch)[0] # (batch_size, chunk_size, action_dim) + actions = self.unnormalize_outputs({"action": actions})["action"] + if self._ensembled_actions is None: + # Initializes `self._ensembled_action` to the sequence of actions predicted during the first + # time step of the episode. + self._ensembled_actions = actions.clone() + else: + # self._ensembled_actions will have shape (batch_size, chunk_size - 1, action_dim). Compute + # the EMA update for those entries. + alpha = self.config.temporal_ensemble_momentum + self._ensembled_actions = alpha * self._ensembled_actions + (1 - alpha) * actions[:, :-1] + # The last action, which has no prior moving average, needs to get concatenated onto the end. + self._ensembled_actions = torch.cat([self._ensembled_actions, actions[:, -1:]], dim=1) + # "Consume" the first action. + action, self._ensembled_actions = self._ensembled_actions[:, 0], self._ensembled_actions[:, 1:] + return action + + # Action queue logic for n_action_steps > 1. When the action_queue is depleted, populate it by + # querying the policy. if len(self._action_queue) == 0: actions = self.model(batch)[0][:, : self.config.n_action_steps] diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml index 15efcce8..f09e6a12 100644 --- a/lerobot/configs/policy/act.yaml +++ b/lerobot/configs/policy/act.yaml @@ -73,7 +73,7 @@ policy: n_vae_encoder_layers: 4 # Inference. - use_temporal_aggregation: false + temporal_ensemble_momentum: null # Training and loss computation. dropout: 0.1 From 5ec0af62c62de6c6f7ae4dad498d9dbcf676b062 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Fri, 17 May 2024 15:05:40 +0100 Subject: [PATCH 15/22] Explain why n_encoder_layers=1 (#193) --- lerobot/common/policies/act/configuration_act.py | 3 +++ lerobot/configs/policy/act.yaml | 3 +++ 2 files changed, 6 insertions(+) diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index cc072083..95374f4d 100644 --- a/lerobot/common/policies/act/configuration_act.py +++ b/lerobot/common/policies/act/configuration_act.py @@ -119,6 +119,9 @@ class ACTConfig: dim_feedforward: int = 3200 feedforward_activation: str = "relu" n_encoder_layers: int = 4 + # Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code + # that means only the first layer is used. Here we match the original implementation by setting this to 1. + # See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521. n_decoder_layers: int = 1 # VAE. use_vae: bool = True diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml index f09e6a12..7a12dcc2 100644 --- a/lerobot/configs/policy/act.yaml +++ b/lerobot/configs/policy/act.yaml @@ -66,6 +66,9 @@ policy: dim_feedforward: 3200 feedforward_activation: relu n_encoder_layers: 4 + # Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code + # that means only the first layer is used. Here we match the original implementation by setting this to 1. + # See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521. n_decoder_layers: 1 # VAE. use_vae: true From 096149b118863fb9e6213c6663614d24c97c6735 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Fri, 17 May 2024 18:01:39 +0100 Subject: [PATCH 16/22] Disable wandb by default (#195) --- lerobot/configs/default.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/configs/default.yaml b/lerobot/configs/default.yaml index 7cad0a1a..ae36b3e2 100644 --- a/lerobot/configs/default.yaml +++ b/lerobot/configs/default.yaml @@ -35,7 +35,7 @@ eval: use_async_envs: false wandb: - enable: true + enable: false # Set to true to disable saving an artifact despite save_model == True disable_artifact: false project: lerobot From 19dfb9144ad679975f17a1f6c9fee7913dbde366 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Mon, 20 May 2024 09:02:24 +0100 Subject: [PATCH 17/22] Update the README to reflect WandB disabled by default (#198) --- README.md | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index a936ecfe..b1c441cb 100644 --- a/README.md +++ b/README.md @@ -92,6 +92,8 @@ To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tra wandb login ``` +(note: you will also need to enable WandB in the configuration. See below.) + ## Walkthrough ``` @@ -158,13 +160,13 @@ See `python lerobot/scripts/eval.py --help` for more instructions. Check out [example 3](./examples/3_train_policy.py) that illustrates how to start training a model. -In general, you can use our training script to easily train any policy. To use wandb for logging training and evaluation curves, make sure you ran `wandb login`. Here is an example of training the ACT policy on trajectories collected by humans on the Aloha simulation environment for the insertion task: +In general, you can use our training script to easily train any policy. Here is an example of training the ACT policy on trajectories collected by humans on the Aloha simulation environment for the insertion task: ```bash python lerobot/scripts/train.py \ policy=act \ env=aloha \ env.task=AlohaInsertion-v0 \ - dataset_repo_id=lerobot/aloha_sim_insertion_human + dataset_repo_id=lerobot/aloha_sim_insertion_human \ ``` The experiment directory is automatically generated and will show up in yellow in your terminal. It looks like `outputs/train/2024-05-05/20-21-12_aloha_act_default`. You can manually specify an experiment directory by adding this argument to the `train.py` python command: @@ -172,17 +174,17 @@ The experiment directory is automatically generated and will show up in yellow i hydra.run.dir=your/new/experiment/dir ``` -A link to the wandb logs for the run will also show up in yellow in your terminal. Here is an example of logs from wandb: -![](media/wandb.png) +To use wandb for logging training and evaluation curves, make sure you've run `wandb login` as a one-time setup step. Then, when running the training command above, enable WandB in the configuration by adding: -You can deactivate wandb by adding these arguments to the `train.py` python command: ```bash - wandb.disable_artifact=true \ - wandb.enable=false + wandb.enable=true ``` -Note: For efficiency, during training every checkpoint is evaluated on a low number of episodes. After training, you may want to re-evaluate your best checkpoints on more episodes or change the evaluation settings. See `python lerobot/scripts/eval.py --help` for more instructions. +A link to the wandb logs for the run will also show up in yellow in your terminal. Here is an example of what they look like in your browser: +![](media/wandb.png) + +Note: For efficiency, during training every checkpoint is evaluated on a low number of episodes. After training, you may want to re-evaluate your best checkpoints on more episodes or change the evaluation settings. See `python lerobot/scripts/eval.py --help` for more instructions. ## Contribute From 01eae09ba6efb0a287f1da021e9a693e4905d4c7 Mon Sep 17 00:00:00 2001 From: Remi Date: Mon, 20 May 2024 13:48:09 +0200 Subject: [PATCH 18/22] Fix aloha real-world datasets (#175) --- .gitattributes | 4 + .github/workflows/test.yml | 6 ++ CONTRIBUTING.md | 5 ++ README.md | 4 +- docker/lerobot-gpu/Dockerfile | 2 +- lerobot/__init__.py | 10 ++- lerobot/common/datasets/lerobot_dataset.py | 2 +- .../push_dataset_to_hub/_download_raw.py | 58 +++++-------- .../push_dataset_to_hub/aloha_hdf5_format.py | 24 +++++- lerobot/scripts/push_dataset_to_hub.py | 13 ++- poetry.lock | 77 +++++++++++++++++- pyproject.toml | 2 +- .../meta_data/episode_data_index.safetensors | 3 + .../aloha_mobile_cabinet/meta_data/info.json | 3 + .../meta_data/stats.safetensors | 3 + .../train/data-00000-of-00001.arrow | 3 + .../train/dataset_info.json | 3 + .../aloha_mobile_cabinet/train/state.json | 3 + 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+++ b/.gitattributes @@ -1,2 +1,6 @@ *.memmap filter=lfs diff=lfs merge=lfs -text *.stl filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.json filter=lfs diff=lfs merge=lfs -text diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 45feabdc..a466cff7 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -29,6 +29,8 @@ jobs: MUJOCO_GL: egl steps: - uses: actions/checkout@v4 + with: + lfs: true # Ensure LFS files are pulled - name: Install EGL run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev @@ -65,6 +67,8 @@ jobs: MUJOCO_GL: egl steps: - uses: actions/checkout@v4 + with: + lfs: true # Ensure LFS files are pulled - name: Install poetry run: | @@ -97,6 +101,8 @@ jobs: MUJOCO_GL: egl steps: - uses: actions/checkout@v4 + with: + lfs: true # Ensure LFS files are pulled - name: Install EGL run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index dd8f97e2..b20dede6 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -195,6 +195,11 @@ Follow these steps to start contributing: git commit ``` + Note, if you already commited some changes that have a wrong formatting, you can use: + ```bash + pre-commit run --all-files + ``` + Please write [good commit messages](https://chris.beams.io/posts/git-commit/). It is a good idea to sync your copy of the code with the original diff --git a/README.md b/README.md index b1c441cb..e71b0e67 100644 --- a/README.md +++ b/README.md @@ -197,11 +197,11 @@ To add a dataset to the hub, you need to login using a write-access token, which huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential ``` -Then move your dataset folder in `data` directory (e.g. `data/aloha_ping_pong`), and push your dataset to the hub with: +Then move your dataset folder in `data` directory (e.g. `data/aloha_static_pingpong_test`), and push your dataset to the hub with: ```bash python lerobot/scripts/push_dataset_to_hub.py \ --data-dir data \ ---dataset-id aloha_ping_ping \ +--dataset-id aloha_static_pingpong_test \ --raw-format aloha_hdf5 \ --community-id lerobot ``` diff --git a/docker/lerobot-gpu/Dockerfile b/docker/lerobot-gpu/Dockerfile index a2823dc2..9889114a 100644 --- a/docker/lerobot-gpu/Dockerfile +++ b/docker/lerobot-gpu/Dockerfile @@ -8,7 +8,7 @@ ARG DEBIAN_FRONTEND=noninteractive RUN apt-get update && apt-get install -y --no-install-recommends \ build-essential cmake \ git git-lfs openssh-client \ - nano vim \ + nano vim ffmpeg \ htop atop nvtop \ sed gawk grep curl wget \ tcpdump sysstat screen \ diff --git a/lerobot/__init__.py b/lerobot/__init__.py index e188bc52..e0234f29 100644 --- a/lerobot/__init__.py +++ b/lerobot/__init__.py @@ -61,13 +61,21 @@ available_datasets_per_env = { "lerobot/aloha_sim_insertion_scripted", "lerobot/aloha_sim_transfer_cube_human", "lerobot/aloha_sim_transfer_cube_scripted", + "lerobot/aloha_sim_insertion_human_image", + "lerobot/aloha_sim_insertion_scripted_image", + "lerobot/aloha_sim_transfer_cube_human_image", + "lerobot/aloha_sim_transfer_cube_scripted_image", ], - "pusht": ["lerobot/pusht"], + "pusht": ["lerobot/pusht", "lerobot/pusht_image"], "xarm": [ "lerobot/xarm_lift_medium", "lerobot/xarm_lift_medium_replay", "lerobot/xarm_push_medium", "lerobot/xarm_push_medium_replay", + "lerobot/xarm_lift_medium_image", + "lerobot/xarm_lift_medium_replay_image", + "lerobot/xarm_push_medium_image", + "lerobot/xarm_push_medium_replay_image", ], } diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index 21d09879..6a3204f4 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/lerobot/common/datasets/lerobot_dataset.py @@ -30,7 +30,7 @@ from lerobot.common.datasets.utils import ( from lerobot.common.datasets.video_utils import VideoFrame, load_from_videos DATA_DIR = Path(os.environ["DATA_DIR"]) if "DATA_DIR" in os.environ else None -CODEBASE_VERSION = "v1.3" +CODEBASE_VERSION = "v1.4" class LeRobotDataset(torch.utils.data.Dataset): diff --git a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py index 232fd055..7074bcba 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py +++ b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py @@ -24,17 +24,16 @@ import shutil from pathlib import Path import tqdm - -ALOHA_RAW_URLS_DIR = "lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls" +from huggingface_hub import snapshot_download def download_raw(raw_dir, dataset_id): - if "pusht" in dataset_id: + if "aloha" in dataset_id or "image" in dataset_id: + download_hub(raw_dir, dataset_id) + elif "pusht" in dataset_id: download_pusht(raw_dir) elif "xarm" in dataset_id: download_xarm(raw_dir) - elif "aloha" in dataset_id: - download_aloha(raw_dir, dataset_id) elif "umi" in dataset_id: download_umi(raw_dir) else: @@ -103,37 +102,13 @@ def download_xarm(raw_dir: Path): zip_path.unlink() -def download_aloha(raw_dir: Path, dataset_id: str): - import gdown - - subset_id = dataset_id.replace("aloha_", "") - urls_path = Path(ALOHA_RAW_URLS_DIR) / f"{subset_id}.txt" - assert urls_path.exists(), f"{subset_id}.txt not found in '{ALOHA_RAW_URLS_DIR}' directory." - - with open(urls_path) as f: - # strip lines and ignore empty lines - urls = [url.strip() for url in f if url.strip()] - - # sanity check - for url in urls: - assert ( - "drive.google.com/drive/folders" in url or "drive.google.com/file" in url - ), f"Wrong url provided '{url}' in file '{urls_path}'." - +def download_hub(raw_dir: Path, dataset_id: str): raw_dir = Path(raw_dir) raw_dir.mkdir(parents=True, exist_ok=True) - logging.info(f"Start downloading from google drive for {dataset_id}") - for url in urls: - if "drive.google.com/drive/folders" in url: - # when a folder url is given, download up to 50 files from the folder - gdown.download_folder(url, output=str(raw_dir), remaining_ok=True) - - elif "drive.google.com/file" in url: - # because of the 50 files limit per folder, we download the remaining files (file by file) - gdown.download(url, output=str(raw_dir), fuzzy=True) - - logging.info(f"End downloading from google drive for {dataset_id}") + logging.info(f"Start downloading from huggingface.co/cadene for {dataset_id}") + snapshot_download(f"cadene/{dataset_id}_raw", repo_type="dataset", local_dir=raw_dir) + logging.info(f"Finish downloading from huggingface.co/cadene for {dataset_id}") def download_umi(raw_dir: Path): @@ -148,21 +123,30 @@ def download_umi(raw_dir: Path): if __name__ == "__main__": data_dir = Path("data") dataset_ids = [ + "pusht_image", + "xarm_lift_medium_image", + "xarm_lift_medium_replay_image", + "xarm_push_medium_image", + "xarm_push_medium_replay_image", + "aloha_sim_insertion_human_image", + "aloha_sim_insertion_scripted_image", + "aloha_sim_transfer_cube_human_image", + "aloha_sim_transfer_cube_scripted_image", "pusht", "xarm_lift_medium", "xarm_lift_medium_replay", "xarm_push_medium", "xarm_push_medium_replay", + "aloha_sim_insertion_human", + "aloha_sim_insertion_scripted", + "aloha_sim_transfer_cube_human", + "aloha_sim_transfer_cube_scripted", "aloha_mobile_cabinet", "aloha_mobile_chair", "aloha_mobile_elevator", "aloha_mobile_shrimp", "aloha_mobile_wash_pan", "aloha_mobile_wipe_wine", - "aloha_sim_insertion_human", - "aloha_sim_insertion_scripted", - "aloha_sim_transfer_cube_human", - "aloha_sim_transfer_cube_scripted", "aloha_static_battery", "aloha_static_candy", "aloha_static_coffee", diff --git a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py index 4efadc9e..1c2f066e 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py @@ -17,7 +17,7 @@ Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act """ -import re +import gc import shutil from pathlib import Path @@ -79,10 +79,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug): episode_data_index = {"from": [], "to": []} id_from = 0 - - for ep_path in tqdm.tqdm(hdf5_files, total=len(hdf5_files)): + for ep_idx, ep_path in tqdm.tqdm(enumerate(hdf5_files), total=len(hdf5_files)): with h5py.File(ep_path, "r") as ep: - ep_idx = int(re.search(r"episode_(\d+)", ep_path.name).group(1)) num_frames = ep["/action"].shape[0] # last step of demonstration is considered done @@ -91,6 +89,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug): state = torch.from_numpy(ep["/observations/qpos"][:]) action = torch.from_numpy(ep["/action"][:]) + if "/observations/qvel" in ep: + velocity = torch.from_numpy(ep["/observations/qvel"][:]) + if "/observations/effort" in ep: + effort = torch.from_numpy(ep["/observations/effort"][:]) ep_dict = {} @@ -131,6 +133,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug): ep_dict[img_key] = [PILImage.fromarray(x) for x in imgs_array] ep_dict["observation.state"] = state + if "/observations/velocity" in ep: + ep_dict["observation.velocity"] = velocity + if "/observations/effort" in ep: + ep_dict["observation.effort"] = effort ep_dict["action"] = action ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames) ep_dict["frame_index"] = torch.arange(0, num_frames, 1) @@ -146,6 +152,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug): id_from += num_frames + gc.collect() + # process first episode only if debug: break @@ -167,6 +175,14 @@ def to_hf_dataset(data_dict, video) -> Dataset: features["observation.state"] = Sequence( length=data_dict["observation.state"].shape[1], feature=Value(dtype="float32", id=None) ) + if "observation.velocity" in data_dict: + features["observation.velocity"] = Sequence( + length=data_dict["observation.velocity"].shape[1], feature=Value(dtype="float32", id=None) + ) + if "observation.effort" in data_dict: + features["observation.effort"] = Sequence( + length=data_dict["observation.effort"].shape[1], feature=Value(dtype="float32", id=None) + ) features["action"] = Sequence( length=data_dict["action"].shape[1], feature=Value(dtype="float32", id=None) ) diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py index 16d890a7..19af1cf8 100644 --- a/lerobot/scripts/push_dataset_to_hub.py +++ b/lerobot/scripts/push_dataset_to_hub.py @@ -25,7 +25,6 @@ python lerobot/scripts/push_dataset_to_hub.py \ --dataset-id pusht \ --raw-format pusht_zarr \ --community-id lerobot \ ---revision v1.2 \ --dry-run 1 \ --save-to-disk 1 \ --save-tests-to-disk 0 \ @@ -36,7 +35,6 @@ python lerobot/scripts/push_dataset_to_hub.py \ --dataset-id xarm_lift_medium \ --raw-format xarm_pkl \ --community-id lerobot \ ---revision v1.2 \ --dry-run 1 \ --save-to-disk 1 \ --save-tests-to-disk 0 \ @@ -47,7 +45,6 @@ python lerobot/scripts/push_dataset_to_hub.py \ --dataset-id aloha_sim_insertion_scripted \ --raw-format aloha_hdf5 \ --community-id lerobot \ ---revision v1.2 \ --dry-run 1 \ --save-to-disk 1 \ --save-tests-to-disk 0 \ @@ -58,7 +55,6 @@ python lerobot/scripts/push_dataset_to_hub.py \ --dataset-id umi_cup_in_the_wild \ --raw-format umi_zarr \ --community-id lerobot \ ---revision v1.2 \ --dry-run 1 \ --save-to-disk 1 \ --save-tests-to-disk 0 \ @@ -227,8 +223,7 @@ def push_dataset_to_hub( test_hf_dataset = test_hf_dataset.with_format(None) test_hf_dataset.save_to_disk(str(tests_out_dir / "train")) - # copy meta data to tests directory - shutil.copytree(meta_data_dir, tests_meta_data_dir) + save_meta_data(info, stats, episode_data_index, tests_meta_data_dir) # copy videos of first episode to tests directory episode_index = 0 @@ -237,6 +232,10 @@ def push_dataset_to_hub( fname = f"{key}_episode_{episode_index:06d}.mp4" shutil.copy(videos_dir / fname, tests_videos_dir / fname) + if not save_to_disk and out_dir.exists(): + # remove possible temporary files remaining in the output directory + shutil.rmtree(out_dir) + def main(): parser = argparse.ArgumentParser() @@ -314,7 +313,7 @@ def main(): parser.add_argument( "--num-workers", type=int, - default=16, + default=8, help="Number of processes of Dataloader for computing the dataset statistics.", ) parser.add_argument( diff --git a/poetry.lock b/poetry.lock index e0b27f15..bde0865e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand. 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