153 lines
3.2 KiB
Markdown
153 lines
3.2 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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To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiments tracking, log in with
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```
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wandb login
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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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If you are not sure how to contribute or want to know the next features we working on, look on this project page: [LeRobot TODO](https://github.com/users/Cadene/projects/1)
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Ask [Remi Cadene](re.cadene@gmail.com) for access if needed.
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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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# install if needed
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pre-commit install
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# apply style and linter checks before git commit
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pre-commit run -a
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```
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**Adding dependencies (temporary)**
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Right now, for the CI to work, whenever a new dependency is added it needs to be also added to the cpu env, eg:
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```
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# Run in this directory, adds the package to the main env with cuda
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poetry add some-package
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# Adds the same package to the cpu env
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cd .github/poetry/cpu && poetry add some-package
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```
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**Tests**
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Install [git lfs](https://git-lfs.com/) to retrieve test artifacts (if you don't have it already).
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On Mac:
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```
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brew install git-lfs
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git lfs install
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```
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On Ubuntu:
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```
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sudo apt-get install git-lfs
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git lfs install
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```
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Pull artifacts if they're not in [tests/data](tests/data)
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```
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git lfs pull
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```
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When adding a new dataset, mock it with
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```
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python tests/scripts/mock_dataset.py --in-data-dir data/<dataset_id> --out-data-dir tests/data/<dataset_id>
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```
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Run tests
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```
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DATA_DIR="tests/data" pytest -sx tests
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```
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## Acknowledgment
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- Our Diffusion policy and Pusht environment are adapted from [Diffusion Policy](https://diffusion-policy.cs.columbia.edu/)
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- Our TDMPC policy and Simxarm environment are adapted from [FOWM](https://www.yunhaifeng.com/FOWM/)
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- Our ACT policy and ALOHA environment are adapted from [ALOHA](https://tonyzhaozh.github.io/aloha/)
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