118 lines
2.3 KiB
Markdown
118 lines
2.3 KiB
Markdown
# LeRobot
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## Installation
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Create a virtual environment with python 3.10, e.g. using `conda`:
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```
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conda create -y -n lerobot python=3.10
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conda activate lerobot
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```
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[Install `poetry`](https://python-poetry.org/docs/#installation) (if you don't have it already)
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```
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curl -sSL https://install.python-poetry.org | python -
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```
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Install dependencies
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```
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poetry install
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```
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If you encounter a disk space error, try to change your tmp dir to a location where you have enough disk space, e.g.
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```
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mkdir ~/tmp
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export TMPDIR='~/tmp'
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```
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Install `diffusion_policy` #HACK
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```
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# from this directory
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git clone https://github.com/real-stanford/diffusion_policy
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cp -r diffusion_policy/diffusion_policy $(poetry env info -p)/lib/python3.10/site-packages/
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```
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## Usage
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### Train
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```
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python lerobot/scripts/train.py \
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hydra.job.name=pusht \
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env=pusht
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```
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### Visualize offline buffer
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```
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python lerobot/scripts/visualize_dataset.py \
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hydra.run.dir=tmp/$(date +"%Y_%m_%d") \
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env=pusht
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```
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### Visualize online buffer / Eval
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```
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python lerobot/scripts/eval.py \
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hydra.run.dir=tmp/$(date +"%Y_%m_%d") \
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env=pusht
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```
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## TODO
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- [x] priority update doesnt match FOWM or original paper
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- [x] self.step=100000 should be updated at every step to adjust to horizon of planner
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- [ ] prefetch replay buffer to speedup training
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- [ ] parallelize env to speedup eval
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- [ ] clean checkpointing / loading
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- [ ] clean logging
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- [ ] clean config
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- [ ] clean hyperparameter tuning
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- [ ] add pusht
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- [ ] add aloha
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- [ ] add act
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- [ ] add diffusion
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- [ ] add aloha 2
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## Profile
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**Example**
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```python
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from torch.profiler import profile, record_function, ProfilerActivity
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def trace_handler(prof):
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prof.export_chrome_trace(f"tmp/trace_schedule_{prof.step_num}.json")
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with profile(
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activities=[ProfilerActivity.CPU, ProfilerActivity.CUDA],
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schedule=torch.profiler.schedule(
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wait=2,
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warmup=2,
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active=3,
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),
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on_trace_ready=trace_handler
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) as prof:
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with record_function("eval_policy"):
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for i in range(num_episodes):
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prof.step()
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```
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```bash
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python lerobot/scripts/eval.py \
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pretrained_model_path=/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt \
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eval_episodes=7
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```
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## Contribute
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**Style**
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```
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pre-commit install
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```
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**Tests**
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```
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pytest -sx tests
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```
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