forked from tangger/lerobot
Reward classifier and training (#528)
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai> Co-authored-by: resolver101757 <kelster101757@hotmail.com> Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com> Co-authored-by: Remi <re.cadene@gmail.com> Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
This commit is contained in:
Yoel
@@ -318,7 +318,7 @@ class LeRobotDatasetMetadata:
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obj.root.mkdir(parents=True, exist_ok=False)
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if robot is not None:
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features = get_features_from_robot(robot, use_videos)
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features = {**(features or {}), **get_features_from_robot(robot)}
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robot_type = robot.robot_type
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if not all(cam.fps == fps for cam in robot.cameras.values()):
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logging.warning(
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245
lerobot/common/logger.py
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245
lerobot/common/logger.py
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@@ -0,0 +1,245 @@
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#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Borrowed from https://github.com/fyhMer/fowm/blob/main/src/logger.py
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# TODO(rcadene, alexander-soare): clean this file
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"""
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import logging
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import os
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import re
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from glob import glob
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from pathlib import Path
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import torch
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from huggingface_hub.constants import SAFETENSORS_SINGLE_FILE
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from omegaconf import DictConfig, OmegaConf
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from termcolor import colored
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from torch.optim import Optimizer
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from torch.optim.lr_scheduler import LRScheduler
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import wandb
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from lerobot.common.policies.policy_protocol import Policy
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from lerobot.common.utils.utils import get_global_random_state, set_global_random_state
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def log_output_dir(out_dir):
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logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {out_dir}")
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def cfg_to_group(cfg: DictConfig, return_list: bool = False) -> list[str] | str:
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"""Return a group name for logging. Optionally returns group name as list."""
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lst = [
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f"policy:{cfg.policy.name}",
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f"dataset:{cfg.dataset_repo_id}",
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f"env:{cfg.env.name}",
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f"seed:{cfg.seed}",
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]
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return lst if return_list else "-".join(lst)
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def get_wandb_run_id_from_filesystem(checkpoint_dir: Path) -> str:
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# Get the WandB run ID.
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paths = glob(str(checkpoint_dir / "../wandb/latest-run/run-*"))
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if len(paths) != 1:
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raise RuntimeError("Couldn't get the previous WandB run ID for run resumption.")
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match = re.search(r"run-([^\.]+).wandb", paths[0].split("/")[-1])
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if match is None:
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raise RuntimeError("Couldn't get the previous WandB run ID for run resumption.")
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wandb_run_id = match.groups(0)[0]
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return wandb_run_id
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class Logger:
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"""Primary logger object. Logs either locally or using wandb.
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The logger creates the following directory structure:
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provided_log_dir
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├── .hydra # hydra's configuration cache
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├── checkpoints
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│ ├── specific_checkpoint_name
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│ │ ├── pretrained_model # Hugging Face pretrained model directory
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│ │ │ ├── ...
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│ │ └── training_state.pth # optimizer, scheduler, and random states + training step
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| ├── another_specific_checkpoint_name
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│ │ ├── ...
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| ├── ...
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│ └── last # a softlink to the last logged checkpoint
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"""
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pretrained_model_dir_name = "pretrained_model"
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training_state_file_name = "training_state.pth"
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def __init__(self, cfg: DictConfig, log_dir: str, wandb_job_name: str | None = None):
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"""
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Args:
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log_dir: The directory to save all logs and training outputs to.
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job_name: The WandB job name.
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"""
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self._cfg = cfg
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self.log_dir = Path(log_dir)
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self.log_dir.mkdir(parents=True, exist_ok=True)
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self.checkpoints_dir = self.get_checkpoints_dir(log_dir)
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self.last_checkpoint_dir = self.get_last_checkpoint_dir(log_dir)
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self.last_pretrained_model_dir = self.get_last_pretrained_model_dir(log_dir)
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# Set up WandB.
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self._group = cfg_to_group(cfg)
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project = cfg.get("wandb", {}).get("project")
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entity = cfg.get("wandb", {}).get("entity")
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enable_wandb = cfg.get("wandb", {}).get("enable", False)
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run_offline = not enable_wandb or not project
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if run_offline:
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logging.info(colored("Logs will be saved locally.", "yellow", attrs=["bold"]))
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self._wandb = None
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else:
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os.environ["WANDB_SILENT"] = "true"
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wandb_run_id = None
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if cfg.resume:
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wandb_run_id = get_wandb_run_id_from_filesystem(self.checkpoints_dir)
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wandb.init(
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id=wandb_run_id,
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project=project,
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entity=entity,
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name=wandb_job_name,
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notes=cfg.get("wandb", {}).get("notes"),
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tags=cfg_to_group(cfg, return_list=True),
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dir=log_dir,
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config=OmegaConf.to_container(cfg, resolve=True),
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# TODO(rcadene): try set to True
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save_code=False,
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# TODO(rcadene): split train and eval, and run async eval with job_type="eval"
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job_type="train_eval",
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resume="must" if cfg.resume else None,
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)
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print(colored("Logs will be synced with wandb.", "blue", attrs=["bold"]))
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logging.info(f"Track this run --> {colored(wandb.run.get_url(), 'yellow', attrs=['bold'])}")
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self._wandb = wandb
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@classmethod
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def get_checkpoints_dir(cls, log_dir: str | Path) -> Path:
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"""Given the log directory, get the sub-directory in which checkpoints will be saved."""
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return Path(log_dir) / "checkpoints"
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@classmethod
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def get_last_checkpoint_dir(cls, log_dir: str | Path) -> Path:
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"""Given the log directory, get the sub-directory in which the last checkpoint will be saved."""
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return cls.get_checkpoints_dir(log_dir) / "last"
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@classmethod
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def get_last_pretrained_model_dir(cls, log_dir: str | Path) -> Path:
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"""
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Given the log directory, get the sub-directory in which the last checkpoint's pretrained weights will
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be saved.
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"""
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return cls.get_last_checkpoint_dir(log_dir) / cls.pretrained_model_dir_name
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def save_model(self, save_dir: Path, policy: Policy, wandb_artifact_name: str | None = None):
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"""Save the weights of the Policy model using PyTorchModelHubMixin.
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The weights are saved in a folder called "pretrained_model" under the checkpoint directory.
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Optionally also upload the model to WandB.
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"""
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self.checkpoints_dir.mkdir(parents=True, exist_ok=True)
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policy.save_pretrained(save_dir)
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# Also save the full Hydra config for the env configuration.
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OmegaConf.save(self._cfg, save_dir / "config.yaml")
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if self._wandb and not self._cfg.wandb.disable_artifact:
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# note wandb artifact does not accept ":" or "/" in its name
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artifact = self._wandb.Artifact(wandb_artifact_name, type="model")
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artifact.add_file(save_dir / SAFETENSORS_SINGLE_FILE)
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self._wandb.log_artifact(artifact)
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if self.last_checkpoint_dir.exists():
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os.remove(self.last_checkpoint_dir)
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def save_training_state(
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self,
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save_dir: Path,
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train_step: int,
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optimizer: Optimizer,
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scheduler: LRScheduler | None,
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):
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"""Checkpoint the global training_step, optimizer state, scheduler state, and random state.
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All of these are saved as "training_state.pth" under the checkpoint directory.
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"""
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training_state = {
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"step": train_step,
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"optimizer": optimizer.state_dict(),
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**get_global_random_state(),
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}
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if scheduler is not None:
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training_state["scheduler"] = scheduler.state_dict()
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torch.save(training_state, save_dir / self.training_state_file_name)
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def save_checkpoint(
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self,
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train_step: int,
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policy: Policy,
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optimizer: Optimizer,
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scheduler: LRScheduler | None,
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identifier: str,
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):
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"""Checkpoint the model weights and the training state."""
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checkpoint_dir = self.checkpoints_dir / str(identifier)
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wandb_artifact_name = (
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None
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if self._wandb is None
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else f"{self._group.replace(':', '_').replace('/', '_')}-{self._cfg.seed}-{identifier}"
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)
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self.save_model(
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checkpoint_dir / self.pretrained_model_dir_name, policy, wandb_artifact_name=wandb_artifact_name
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)
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self.save_training_state(checkpoint_dir, train_step, optimizer, scheduler)
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os.symlink(checkpoint_dir.absolute(), self.last_checkpoint_dir)
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def load_last_training_state(self, optimizer: Optimizer, scheduler: LRScheduler | None) -> int:
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"""
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Given the last checkpoint in the logging directory, load the optimizer state, scheduler state, and
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random state, and return the global training step.
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"""
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training_state = torch.load(self.last_checkpoint_dir / self.training_state_file_name)
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optimizer.load_state_dict(training_state["optimizer"])
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if scheduler is not None:
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scheduler.load_state_dict(training_state["scheduler"])
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elif "scheduler" in training_state:
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raise ValueError(
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"The checkpoint contains a scheduler state_dict, but no LRScheduler was provided."
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)
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# Small hack to get the expected keys: use `get_global_random_state`.
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set_global_random_state({k: training_state[k] for k in get_global_random_state()})
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return training_state["step"]
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def log_dict(self, d, step, mode="train"):
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assert mode in {"train", "eval"}
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# TODO(alexander-soare): Add local text log.
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if self._wandb is not None:
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for k, v in d.items():
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if not isinstance(v, (int, float, str, wandb.Table)):
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logging.warning(
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f'WandB logging of key "{k}" was ignored as its type is not handled by this wrapper.'
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)
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continue
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self._wandb.log({f"{mode}/{k}": v}, step=step)
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def log_video(self, video_path: str, step: int, mode: str = "train"):
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assert mode in {"train", "eval"}
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assert self._wandb is not None
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wandb_video = self._wandb.Video(video_path, fps=self._cfg.fps, format="mp4")
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self._wandb.log({f"{mode}/video": wandb_video}, step=step)
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@@ -0,0 +1,36 @@
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import json
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import os
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from dataclasses import asdict, dataclass
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import torch
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@dataclass
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class ClassifierConfig:
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"""Configuration for the Classifier model."""
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num_classes: int = 2
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hidden_dim: int = 256
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dropout_rate: float = 0.1
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model_name: str = "microsoft/resnet-50"
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device: str = "cuda" if torch.cuda.is_available() else "mps"
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model_type: str = "cnn" # "transformer" or "cnn"
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def save_pretrained(self, save_dir):
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"""Save config to json file."""
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os.makedirs(save_dir, exist_ok=True)
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# Convert to dict and save as JSON
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config_dict = asdict(self)
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with open(os.path.join(save_dir, "config.json"), "w") as f:
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json.dump(config_dict, f, indent=2)
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@classmethod
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def from_pretrained(cls, pretrained_model_name_or_path):
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"""Load config from json file."""
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config_file = os.path.join(pretrained_model_name_or_path, "config.json")
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with open(config_file) as f:
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config_dict = json.load(f)
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return cls(**config_dict)
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@@ -0,0 +1,134 @@
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import logging
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from typing import Optional
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import torch
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from huggingface_hub import PyTorchModelHubMixin
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from torch import Tensor, nn
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from transformers import AutoImageProcessor, AutoModel
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from .configuration_classifier import ClassifierConfig
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logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(name)s - %(levelname)s - %(message)s")
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logger = logging.getLogger(__name__)
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class ClassifierOutput:
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"""Wrapper for classifier outputs with additional metadata."""
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def __init__(
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self, logits: Tensor, probabilities: Optional[Tensor] = None, hidden_states: Optional[Tensor] = None
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):
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self.logits = logits
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self.probabilities = probabilities
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self.hidden_states = hidden_states
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class Classifier(
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nn.Module,
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PyTorchModelHubMixin,
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# Add Hub metadata
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library_name="lerobot",
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repo_url="https://github.com/huggingface/lerobot",
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tags=["robotics", "vision-classifier"],
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):
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"""Image classifier built on top of a pre-trained encoder."""
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# Add name attribute for factory
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name = "classifier"
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def __init__(self, config: ClassifierConfig):
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super().__init__()
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self.config = config
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self.processor = AutoImageProcessor.from_pretrained(self.config.model_name, trust_remote_code=True)
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encoder = AutoModel.from_pretrained(self.config.model_name, trust_remote_code=True)
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# Extract vision model if we're given a multimodal model
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if hasattr(encoder, "vision_model"):
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logging.info("Multimodal model detected - using vision encoder only")
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self.encoder = encoder.vision_model
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self.vision_config = encoder.config.vision_config
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else:
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self.encoder = encoder
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self.vision_config = getattr(encoder, "config", None)
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# Model type from config
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self.is_cnn = self.config.model_type == "cnn"
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# For CNNs, initialize backbone
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if self.is_cnn:
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self._setup_cnn_backbone()
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self._freeze_encoder()
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self._build_classifier_head()
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def _setup_cnn_backbone(self):
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"""Set up CNN encoder"""
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if hasattr(self.encoder, "fc"):
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self.feature_dim = self.encoder.fc.in_features
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self.encoder = nn.Sequential(*list(self.encoder.children())[:-1])
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elif hasattr(self.encoder.config, "hidden_sizes"):
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self.feature_dim = self.encoder.config.hidden_sizes[-1] # Last channel dimension
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else:
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raise ValueError("Unsupported CNN architecture")
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def _freeze_encoder(self) -> None:
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"""Freeze the encoder parameters."""
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for param in self.encoder.parameters():
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param.requires_grad = False
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def _build_classifier_head(self) -> None:
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"""Initialize the classifier head architecture."""
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# Get input dimension based on model type
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if self.is_cnn:
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input_dim = self.feature_dim
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else: # Transformer models
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if hasattr(self.encoder.config, "hidden_size"):
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input_dim = self.encoder.config.hidden_size
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else:
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raise ValueError("Unsupported transformer architecture since hidden_size is not found")
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self.classifier_head = nn.Sequential(
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nn.Linear(input_dim, self.config.hidden_dim),
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nn.Dropout(self.config.dropout_rate),
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nn.LayerNorm(self.config.hidden_dim),
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nn.ReLU(),
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nn.Linear(self.config.hidden_dim, 1 if self.config.num_classes == 2 else self.config.num_classes),
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)
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def _get_encoder_output(self, x: torch.Tensor) -> torch.Tensor:
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"""Extract the appropriate output from the encoder."""
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# Process images with the processor (handles resizing and normalization)
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processed = self.processor(
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images=x, # LeRobotDataset already provides proper tensor format
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return_tensors="pt",
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)
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processed = processed["pixel_values"].to(x.device)
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with torch.no_grad():
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if self.is_cnn:
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# The HF ResNet applies pooling internally
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outputs = self.encoder(processed)
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# Get pooled output directly
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features = outputs.pooler_output
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if features.dim() > 2:
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features = features.squeeze(-1).squeeze(-1)
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return features
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else: # Transformer models
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outputs = self.encoder(processed)
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if hasattr(outputs, "pooler_output") and outputs.pooler_output is not None:
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return outputs.pooler_output
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return outputs.last_hidden_state[:, 0, :]
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def forward(self, x: torch.Tensor) -> ClassifierOutput:
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"""Forward pass of the classifier."""
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# For training, we expect input to be a tensor directly from LeRobotDataset
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encoder_output = self._get_encoder_output(x)
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logits = self.classifier_head(encoder_output)
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if self.config.num_classes == 2:
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logits = logits.squeeze(-1)
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probabilities = torch.sigmoid(logits)
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else:
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probabilities = torch.softmax(logits, dim=-1)
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return ClassifierOutput(logits=logits, probabilities=probabilities, hidden_states=encoder_output)
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@@ -128,14 +128,22 @@ def predict_action(observation, policy, device, use_amp):
|
||||
return action
|
||||
|
||||
|
||||
def init_keyboard_listener():
|
||||
# Allow to exit early while recording an episode or resetting the environment,
|
||||
# by tapping the right arrow key '->'. This might require a sudo permission
|
||||
# to allow your terminal to monitor keyboard events.
|
||||
def init_keyboard_listener(assign_rewards=False):
|
||||
"""
|
||||
Initializes a keyboard listener to enable early termination of an episode
|
||||
or environment reset by pressing the right arrow key ('->'). This may require
|
||||
sudo permissions to allow the terminal to monitor keyboard events.
|
||||
|
||||
Args:
|
||||
assign_rewards (bool): If True, allows annotating the collected trajectory
|
||||
with a binary reward at the end of the episode to indicate success.
|
||||
"""
|
||||
events = {}
|
||||
events["exit_early"] = False
|
||||
events["rerecord_episode"] = False
|
||||
events["stop_recording"] = False
|
||||
if assign_rewards:
|
||||
events["next.reward"] = 0
|
||||
|
||||
if is_headless():
|
||||
logging.warning(
|
||||
@@ -160,6 +168,13 @@ def init_keyboard_listener():
|
||||
print("Escape key pressed. Stopping data recording...")
|
||||
events["stop_recording"] = True
|
||||
events["exit_early"] = True
|
||||
elif assign_rewards and key == keyboard.Key.space:
|
||||
events["next.reward"] = 1 if events["next.reward"] == 0 else 0
|
||||
print(
|
||||
"Space key pressed. Assigning new reward to the subsequent frames. New reward:",
|
||||
events["next.reward"],
|
||||
)
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error handling key press: {e}")
|
||||
|
||||
|
||||
Reference in New Issue
Block a user