diff --git a/.gitattributes b/.gitattributes index 4135de8f8..f12e709c4 100644 --- a/.gitattributes +++ 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 45feabdc8..a466cff7d 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 dd8f97e2c..b20dede68 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/Makefile b/Makefile index a0163f94d..9a8a24742 100644 --- a/Makefile +++ b/Makefile @@ -20,6 +20,8 @@ build-gpu: test-end-to-end: ${MAKE} test-act-ete-train ${MAKE} test-act-ete-eval + ${MAKE} test-act-ete-train-amp + ${MAKE} test-act-ete-eval-amp ${MAKE} test-diffusion-ete-train ${MAKE} test-diffusion-ete-eval ${MAKE} test-tdmpc-ete-train @@ -29,6 +31,7 @@ test-end-to-end: test-act-ete-train: python lerobot/scripts/train.py \ policy=act \ + policy.dim_model=64 \ env=aloha \ wandb.enable=False \ training.offline_steps=2 \ @@ -51,9 +54,40 @@ test-act-ete-eval: env.episode_length=8 \ device=cpu \ +test-act-ete-train-amp: + python lerobot/scripts/train.py \ + policy=act \ + policy.dim_model=64 \ + env=aloha \ + wandb.enable=False \ + training.offline_steps=2 \ + training.online_steps=0 \ + eval.n_episodes=1 \ + eval.batch_size=1 \ + device=cpu \ + training.save_model=true \ + training.save_freq=2 \ + policy.n_action_steps=20 \ + policy.chunk_size=20 \ + training.batch_size=2 \ + hydra.run.dir=tests/outputs/act/ \ + use_amp=true + +test-act-ete-eval-amp: + python lerobot/scripts/eval.py \ + -p tests/outputs/act/checkpoints/000002 \ + eval.n_episodes=1 \ + eval.batch_size=1 \ + env.episode_length=8 \ + device=cpu \ + use_amp=true + test-diffusion-ete-train: python lerobot/scripts/train.py \ policy=diffusion \ + policy.down_dims=\[64,128,256\] \ + policy.diffusion_step_embed_dim=32 \ + policy.num_inference_steps=10 \ env=pusht \ wandb.enable=False \ training.offline_steps=2 \ @@ -74,6 +108,7 @@ test-diffusion-ete-eval: env.episode_length=8 \ device=cpu \ +# TODO(alexander-soare): Restore online_steps to 2 when it is reinstated. test-tdmpc-ete-train: python lerobot/scripts/train.py \ policy=tdmpc \ @@ -82,7 +117,7 @@ test-tdmpc-ete-train: dataset_repo_id=lerobot/xarm_lift_medium \ wandb.enable=False \ training.offline_steps=2 \ - training.online_steps=2 \ + training.online_steps=0 \ eval.n_episodes=1 \ eval.batch_size=1 \ env.episode_length=2 \ @@ -100,7 +135,6 @@ test-tdmpc-ete-eval: env.episode_length=8 \ device=cpu \ - test-default-ete-eval: python lerobot/scripts/eval.py \ --config lerobot/configs/default.yaml \ diff --git a/README.md b/README.md index a936ecfe5..e71b0e679 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 @@ -195,11 +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 a2823dc20..9889114a5 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/examples/4_calculate_validation_loss.py b/examples/4_calculate_validation_loss.py new file mode 100644 index 000000000..1428014b6 --- /dev/null +++ b/examples/4_calculate_validation_loss.py @@ -0,0 +1,90 @@ +"""This script demonstrates how to slice a dataset and calculate the loss on a subset of the data. + +This technique can be useful for debugging and testing purposes, as well as identifying whether a policy +is learning effectively. + +Furthermore, relying on validation loss to evaluate performance is generally not considered a good practice, +especially in the context of imitation learning. The most reliable approach is to evaluate the policy directly +on the target environment, whether that be in simulation or the real world. +""" + +import math +from pathlib import Path + +import torch +from huggingface_hub import snapshot_download + +from lerobot.common.datasets.lerobot_dataset import LeRobotDataset +from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy + +device = torch.device("cuda") + +# Download the diffusion policy for pusht environment +pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht")) +# OR uncomment the following to evaluate a policy from the local outputs/train folder. +# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion") + +policy = DiffusionPolicy.from_pretrained(pretrained_policy_path) +policy.eval() +policy.to(device) + +# Set up the dataset. +delta_timestamps = { + # Load the previous image and state at -0.1 seconds before current frame, + # then load current image and state corresponding to 0.0 second. + "observation.image": [-0.1, 0.0], + "observation.state": [-0.1, 0.0], + # Load the previous action (-0.1), the next action to be executed (0.0), + # and 14 future actions with a 0.1 seconds spacing. All these actions will be + # used to calculate the loss. + "action": [-0.1, 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4], +} + +# Load the last 10% of episodes of the dataset as a validation set. +# - Load full dataset +full_dataset = LeRobotDataset("lerobot/pusht", split="train") +# - Calculate train and val subsets +num_train_episodes = math.floor(full_dataset.num_episodes * 90 / 100) +num_val_episodes = full_dataset.num_episodes - num_train_episodes +print(f"Number of episodes in full dataset: {full_dataset.num_episodes}") +print(f"Number of episodes in training dataset (90% subset): {num_train_episodes}") +print(f"Number of episodes in validation dataset (10% subset): {num_val_episodes}") +# - Get first frame index of the validation set +first_val_frame_index = full_dataset.episode_data_index["from"][num_train_episodes].item() +# - Load frames subset belonging to validation set using the `split` argument. +# It utilizes the `datasets` library's syntax for slicing datasets. +# For more information on the Slice API, please see: +# https://huggingface.co/docs/datasets/v2.19.0/loading#slice-splits +train_dataset = LeRobotDataset( + "lerobot/pusht", split=f"train[:{first_val_frame_index}]", delta_timestamps=delta_timestamps +) +val_dataset = LeRobotDataset( + "lerobot/pusht", split=f"train[{first_val_frame_index}:]", delta_timestamps=delta_timestamps +) +print(f"Number of frames in training dataset (90% subset): {len(train_dataset)}") +print(f"Number of frames in validation dataset (10% subset): {len(val_dataset)}") + +# Create dataloader for evaluation. +val_dataloader = torch.utils.data.DataLoader( + val_dataset, + num_workers=4, + batch_size=64, + shuffle=False, + pin_memory=device != torch.device("cpu"), + drop_last=False, +) + +# Run validation loop. +loss_cumsum = 0 +n_examples_evaluated = 0 +for batch in val_dataloader: + batch = {k: v.to(device, non_blocking=True) for k, v in batch.items()} + output_dict = policy.forward(batch) + + loss_cumsum += output_dict["loss"].item() + n_examples_evaluated += batch["index"].shape[0] + +# Calculate the average loss over the validation set. +average_loss = loss_cumsum / n_examples_evaluated + +print(f"Average loss on validation set: {average_loss:.4f}") diff --git a/lerobot/__init__.py b/lerobot/__init__.py index e188bc525..e0234f297 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 21d098793..057e47702 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/lerobot/common/datasets/lerobot_dataset.py @@ -20,17 +20,19 @@ import datasets import torch from lerobot.common.datasets.utils import ( + calculate_episode_data_index, load_episode_data_index, load_hf_dataset, load_info, load_previous_and_future_frames, load_stats, load_videos, + reset_episode_index, ) 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): @@ -54,7 +56,11 @@ class LeRobotDataset(torch.utils.data.Dataset): # TODO(rcadene, aliberts): implement faster transfer # https://huggingface.co/docs/huggingface_hub/en/guides/download#faster-downloads self.hf_dataset = load_hf_dataset(repo_id, version, root, split) - self.episode_data_index = load_episode_data_index(repo_id, version, root) + if split == "train": + self.episode_data_index = load_episode_data_index(repo_id, version, root) + else: + self.episode_data_index = calculate_episode_data_index(self.hf_dataset) + self.hf_dataset = reset_episode_index(self.hf_dataset) self.stats = load_stats(repo_id, version, root) self.info = load_info(repo_id, version, root) if self.video: 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 232fd0558..7074bcbaa 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 4efadc9e0..1c2f066ed 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/common/datasets/utils.py b/lerobot/common/datasets/utils.py index 5cdd5f7c0..86fef8d46 100644 --- a/lerobot/common/datasets/utils.py +++ b/lerobot/common/datasets/utils.py @@ -14,7 +14,9 @@ # See the License for the specific language governing permissions and # limitations under the License. import json +import re from pathlib import Path +from typing import Dict import datasets import torch @@ -79,7 +81,23 @@ def hf_transform_to_torch(items_dict): def load_hf_dataset(repo_id, version, root, split) -> datasets.Dataset: """hf_dataset contains all the observations, states, actions, rewards, etc.""" if root is not None: - hf_dataset = load_from_disk(str(Path(root) / repo_id / split)) + hf_dataset = load_from_disk(str(Path(root) / repo_id / "train")) + # TODO(rcadene): clean this which enables getting a subset of dataset + if split != "train": + if "%" in split: + raise NotImplementedError(f"We dont support splitting based on percentage for now ({split}).") + match_from = re.search(r"train\[(\d+):\]", split) + match_to = re.search(r"train\[:(\d+)\]", split) + if match_from: + from_frame_index = int(match_from.group(1)) + hf_dataset = hf_dataset.select(range(from_frame_index, len(hf_dataset))) + elif match_to: + to_frame_index = int(match_to.group(1)) + hf_dataset = hf_dataset.select(range(to_frame_index)) + else: + raise ValueError( + f'`split` ({split}) should either be "train", "train[INT:]", or "train[:INT]"' + ) else: hf_dataset = load_dataset(repo_id, revision=version, split=split) hf_dataset.set_transform(hf_transform_to_torch) @@ -245,6 +263,84 @@ def load_previous_and_future_frames( return item +def calculate_episode_data_index(hf_dataset: datasets.Dataset) -> Dict[str, torch.Tensor]: + """ + Calculate episode data index for the provided HuggingFace Dataset. Relies on episode_index column of hf_dataset. + + Parameters: + - hf_dataset (datasets.Dataset): A HuggingFace dataset containing the episode index. + + Returns: + - episode_data_index: A dictionary containing the data index for each episode. The dictionary has two keys: + - "from": A tensor containing the starting index of each episode. + - "to": A tensor containing the ending index of each episode. + """ + episode_data_index = {"from": [], "to": []} + + current_episode = None + """ + The episode_index is a list of integers, each representing the episode index of the corresponding example. + For instance, the following is a valid episode_index: + [0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 2] + + Below, we iterate through the episode_index and populate the episode_data_index dictionary with the starting and + ending index of each episode. For the episode_index above, the episode_data_index dictionary will look like this: + { + "from": [0, 3, 7], + "to": [3, 7, 12] + } + """ + if len(hf_dataset) == 0: + episode_data_index = { + "from": torch.tensor([]), + "to": torch.tensor([]), + } + return episode_data_index + for idx, episode_idx in enumerate(hf_dataset["episode_index"]): + if episode_idx != current_episode: + # We encountered a new episode, so we append its starting location to the "from" list + episode_data_index["from"].append(idx) + # If this is not the first episode, we append the ending location of the previous episode to the "to" list + if current_episode is not None: + episode_data_index["to"].append(idx) + # Let's keep track of the current episode index + current_episode = episode_idx + else: + # We are still in the same episode, so there is nothing for us to do here + pass + # We have reached the end of the dataset, so we append the ending location of the last episode to the "to" list + episode_data_index["to"].append(idx + 1) + + for k in ["from", "to"]: + episode_data_index[k] = torch.tensor(episode_data_index[k]) + + return episode_data_index + + +def reset_episode_index(hf_dataset: datasets.Dataset) -> datasets.Dataset: + """ + Reset the `episode_index` of the provided HuggingFace Dataset. + + `episode_data_index` (and related functionality such as `load_previous_and_future_frames`) requires the + `episode_index` to be sorted, continuous (1,1,1 and not 1,2,1) and start at 0. + + This brings the `episode_index` to the required format. + """ + if len(hf_dataset) == 0: + return hf_dataset + unique_episode_idxs = torch.stack(hf_dataset["episode_index"]).unique().tolist() + episode_idx_to_reset_idx_mapping = { + ep_id: reset_ep_id for reset_ep_id, ep_id in enumerate(unique_episode_idxs) + } + + def modify_ep_idx_func(example): + example["episode_index"] = episode_idx_to_reset_idx_mapping[example["episode_index"].item()] + return example + + hf_dataset = hf_dataset.map(modify_ep_idx_func) + return hf_dataset + + def cycle(iterable): """The equivalent of itertools.cycle, but safe for Pytorch dataloaders. diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index be444b06b..95374f4d5 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 (α) for ensembling + actions for a given time step over multiple policy invocations. Updates are calculated as: + x⁻ₙ = αx⁻ₙ₋₁ + (1-α)xₙ. Note that the ACT paper and original ACT code describes a different + parameter here: they refer to a weighting scheme wᵢ = exp(-m⋅i) and set m = 0.01. With our + formulation, this is equivalent to α = exp(-0.01) ≈ 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`. @@ -115,6 +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 @@ -122,7 +129,7 @@ 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 +141,11 @@ 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 3aab03cf8..72ebdd7ad 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/default.yaml b/lerobot/configs/default.yaml index 7cad0a1ae..27329bc9f 100644 --- a/lerobot/configs/default.yaml +++ b/lerobot/configs/default.yaml @@ -10,6 +10,9 @@ hydra: name: default device: cuda # cpu +# `use_amp` determines whether to use Automatic Mixed Precision (AMP) for training and evaluation. With AMP, +# automatic gradient scaling is used. +use_amp: false # `seed` is used for training (eg: model initialization, dataset shuffling) # AND for the evaluation environments. seed: ??? @@ -17,6 +20,7 @@ dataset_repo_id: lerobot/pusht training: offline_steps: ??? + # NOTE: `online_steps` is not implemented yet. It's here as a placeholder. online_steps: ??? online_steps_between_rollouts: ??? online_sampling_ratio: 0.5 @@ -35,7 +39,7 @@ 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 diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml index 15efcce81..7a12dcc2c 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 @@ -73,7 +76,7 @@ policy: n_vae_encoder_layers: 4 # Inference. - use_temporal_aggregation: false + temporal_ensemble_momentum: null # Training and loss computation. dropout: 0.1 diff --git a/lerobot/configs/policy/tdmpc.yaml b/lerobot/configs/policy/tdmpc.yaml index 7e736850e..09326ab42 100644 --- a/lerobot/configs/policy/tdmpc.yaml +++ b/lerobot/configs/policy/tdmpc.yaml @@ -5,7 +5,8 @@ dataset_repo_id: lerobot/xarm_lift_medium training: offline_steps: 25000 - online_steps: 25000 + # TODO(alexander-soare): uncomment when online training gets reinstated + online_steps: 0 # 25000 not implemented yet eval_freq: 5000 online_steps_between_rollouts: 1 online_sampling_ratio: 0.5 diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py index 9c95633a1..7e4690d0a 100644 --- a/lerobot/scripts/eval.py +++ b/lerobot/scripts/eval.py @@ -46,6 +46,7 @@ import json import logging import threading import time +from contextlib import nullcontext from copy import deepcopy from datetime import datetime as dt from pathlib import Path @@ -520,7 +521,7 @@ def eval( raise NotImplementedError() # Check device is available - get_safe_torch_device(hydra_cfg.device, log=True) + device = get_safe_torch_device(hydra_cfg.device, log=True) torch.backends.cudnn.benchmark = True torch.backends.cuda.matmul.allow_tf32 = True @@ -539,16 +540,17 @@ def eval( policy = make_policy(hydra_cfg=hydra_cfg, dataset_stats=make_dataset(hydra_cfg).stats) policy.eval() - info = eval_policy( - env, - policy, - hydra_cfg.eval.n_episodes, - max_episodes_rendered=10, - video_dir=Path(out_dir) / "eval", - start_seed=hydra_cfg.seed, - enable_progbar=True, - enable_inner_progbar=True, - ) + with torch.no_grad(), torch.autocast(device_type=device.type) if hydra_cfg.use_amp else nullcontext(): + info = eval_policy( + env, + policy, + hydra_cfg.eval.n_episodes, + max_episodes_rendered=10, + video_dir=Path(out_dir) / "eval", + start_seed=hydra_cfg.seed, + enable_progbar=True, + enable_inner_progbar=True, + ) print(info["aggregated"]) # Save info diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py index 16d890a79..19af1cf85 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/lerobot/scripts/train.py b/lerobot/scripts/train.py index 7ca7a0b3c..2b28943dd 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -15,15 +15,14 @@ # limitations under the License. import logging import time +from contextlib import nullcontext from copy import deepcopy from pathlib import Path -import datasets import hydra import torch -from datasets import concatenate_datasets -from datasets.utils import disable_progress_bars, enable_progress_bars from omegaconf import DictConfig +from torch.cuda.amp import GradScaler from lerobot.common.datasets.factory import make_dataset from lerobot.common.datasets.utils import cycle @@ -31,6 +30,7 @@ from lerobot.common.envs.factory import make_env from lerobot.common.logger import Logger, log_output_dir from lerobot.common.policies.factory import make_policy from lerobot.common.policies.policy_protocol import PolicyWithUpdate +from lerobot.common.policies.utils import get_device_from_parameters from lerobot.common.utils.utils import ( format_big_number, get_safe_torch_device, @@ -69,7 +69,6 @@ def make_optimizer_and_scheduler(cfg, policy): cfg.training.adam_eps, cfg.training.adam_weight_decay, ) - assert cfg.training.online_steps == 0, "Diffusion Policy does not handle online training." from diffusers.optimization import get_scheduler lr_scheduler = get_scheduler( @@ -87,21 +86,40 @@ def make_optimizer_and_scheduler(cfg, policy): return optimizer, lr_scheduler -def update_policy(policy, batch, optimizer, grad_clip_norm, lr_scheduler=None): +def update_policy( + policy, + batch, + optimizer, + grad_clip_norm, + grad_scaler: GradScaler, + lr_scheduler=None, + use_amp: bool = False, +): """Returns a dictionary of items for logging.""" - start_time = time.time() + start_time = time.perf_counter() + device = get_device_from_parameters(policy) policy.train() - output_dict = policy.forward(batch) - # TODO(rcadene): policy.unnormalize_outputs(out_dict) - loss = output_dict["loss"] - loss.backward() + with torch.autocast(device_type=device.type) if use_amp else nullcontext(): + output_dict = policy.forward(batch) + # TODO(rcadene): policy.unnormalize_outputs(out_dict) + loss = output_dict["loss"] + grad_scaler.scale(loss).backward() + + # Unscale the graident of the optimzer's assigned params in-place **prior to gradient clipping**. + grad_scaler.unscale_(optimizer) + grad_norm = torch.nn.utils.clip_grad_norm_( policy.parameters(), grad_clip_norm, error_if_nonfinite=False, ) - optimizer.step() + # Optimizer's gradients are already unscaled, so scaler.step does not unscale them, + # although it still skips optimizer.step() if the gradients contain infs or NaNs. + grad_scaler.step(optimizer) + # Updates the scale for next iteration. + grad_scaler.update() + optimizer.zero_grad() if lr_scheduler is not None: @@ -115,7 +133,7 @@ def update_policy(policy, batch, optimizer, grad_clip_norm, lr_scheduler=None): "loss": loss.item(), "grad_norm": float(grad_norm), "lr": optimizer.param_groups[0]["lr"], - "update_s": time.time() - start_time, + "update_s": time.perf_counter() - start_time, **{k: v for k, v in output_dict.items() if k != "loss"}, } @@ -211,103 +229,6 @@ def log_eval_info(logger, info, step, cfg, dataset, is_offline): logger.log_dict(info, step, mode="eval") -def calculate_online_sample_weight(n_off: int, n_on: int, pc_on: float): - """ - Calculate the sampling weight to be assigned to samples so that a specified percentage of the batch comes from online dataset (on average). - - Parameters: - - n_off (int): Number of offline samples, each with a sampling weight of 1. - - n_on (int): Number of online samples. - - pc_on (float): Desired percentage of online samples in decimal form (e.g., 50% as 0.5). - - The total weight of offline samples is n_off * 1.0. - The total weight of offline samples is n_on * w. - The total combined weight of all samples is n_off + n_on * w. - The fraction of the weight that is online is n_on * w / (n_off + n_on * w). - We want this fraction to equal pc_on, so we set up the equation n_on * w / (n_off + n_on * w) = pc_on. - The solution is w = - (n_off * pc_on) / (n_on * (pc_on - 1)) - """ - assert 0.0 <= pc_on <= 1.0 - return -(n_off * pc_on) / (n_on * (pc_on - 1)) - - -def add_episodes_inplace( - online_dataset: torch.utils.data.Dataset, - concat_dataset: torch.utils.data.ConcatDataset, - sampler: torch.utils.data.WeightedRandomSampler, - hf_dataset: datasets.Dataset, - episode_data_index: dict[str, torch.Tensor], - pc_online_samples: float, -): - """ - Modifies the online_dataset, concat_dataset, and sampler in place by integrating - new episodes from hf_dataset into the online_dataset, updating the concatenated - dataset's structure and adjusting the sampling strategy based on the specified - percentage of online samples. - - Parameters: - - online_dataset (torch.utils.data.Dataset): The existing online dataset to be updated. - - concat_dataset (torch.utils.data.ConcatDataset): The concatenated dataset that combines - offline and online datasets, used for sampling purposes. - - sampler (torch.utils.data.WeightedRandomSampler): A sampler that will be updated to - reflect changes in the dataset sizes and specified sampling weights. - - hf_dataset (datasets.Dataset): A Hugging Face dataset containing the new episodes to be added. - - episode_data_index (dict): A dictionary containing two keys ("from" and "to") associated to dataset indices. - They indicate the start index and end index of each episode in the dataset. - - pc_online_samples (float): The target percentage of samples that should come from - the online dataset during sampling operations. - - Raises: - - AssertionError: If the first episode_id or index in hf_dataset is not 0 - """ - first_episode_idx = hf_dataset.select_columns("episode_index")[0]["episode_index"].item() - last_episode_idx = hf_dataset.select_columns("episode_index")[-1]["episode_index"].item() - first_index = hf_dataset.select_columns("index")[0]["index"].item() - last_index = hf_dataset.select_columns("index")[-1]["index"].item() - # sanity check - assert first_episode_idx == 0, f"{first_episode_idx=} is not 0" - assert first_index == 0, f"{first_index=} is not 0" - assert first_index == episode_data_index["from"][first_episode_idx].item() - assert last_index == episode_data_index["to"][last_episode_idx].item() - 1 - - if len(online_dataset) == 0: - # initialize online dataset - online_dataset.hf_dataset = hf_dataset - online_dataset.episode_data_index = episode_data_index - else: - # get the starting indices of the new episodes and frames to be added - start_episode_idx = last_episode_idx + 1 - start_index = last_index + 1 - - def shift_indices(episode_index, index): - # note: we dont shift "frame_index" since it represents the index of the frame in the episode it belongs to - example = {"episode_index": episode_index + start_episode_idx, "index": index + start_index} - return example - - disable_progress_bars() # map has a tqdm progress bar - hf_dataset = hf_dataset.map(shift_indices, input_columns=["episode_index", "index"]) - enable_progress_bars() - - episode_data_index["from"] += start_index - episode_data_index["to"] += start_index - - # extend online dataset - online_dataset.hf_dataset = concatenate_datasets([online_dataset.hf_dataset, hf_dataset]) - - # update the concatenated dataset length used during sampling - concat_dataset.cumulative_sizes = concat_dataset.cumsum(concat_dataset.datasets) - - # update the sampling weights for each frame so that online frames get sampled a certain percentage of times - len_online = len(online_dataset) - len_offline = len(concat_dataset) - len_online - weight_offline = 1.0 - weight_online = calculate_online_sample_weight(len_offline, len_online, pc_online_samples) - sampler.weights = torch.tensor([weight_offline] * len_offline + [weight_online] * len(online_dataset)) - - # update the total number of samples used during sampling - sampler.num_samples = len(concat_dataset) - - def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = None): if out_dir is None: raise NotImplementedError() @@ -316,11 +237,11 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No init_logging() - if cfg.training.online_steps > 0 and cfg.eval.batch_size > 1: - logging.warning("eval.batch_size > 1 not supported for online training steps") + if cfg.training.online_steps > 0: + raise NotImplementedError("Online training is not implemented yet.") # Check device is available - get_safe_torch_device(cfg.device, log=True) + device = get_safe_torch_device(cfg.device, log=True) torch.backends.cudnn.benchmark = True torch.backends.cuda.matmul.allow_tf32 = True @@ -338,6 +259,7 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No # Create optimizer and scheduler # Temporary hack to move optimizer out of policy optimizer, lr_scheduler = make_optimizer_and_scheduler(cfg, policy) + grad_scaler = GradScaler(enabled=cfg.use_amp) num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad) num_total_params = sum(p.numel() for p in policy.parameters()) @@ -358,14 +280,15 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No def evaluate_and_checkpoint_if_needed(step): if step % cfg.training.eval_freq == 0: logging.info(f"Eval policy at step {step}") - eval_info = eval_policy( - eval_env, - policy, - cfg.eval.n_episodes, - video_dir=Path(out_dir) / "eval", - max_episodes_rendered=4, - start_seed=cfg.seed, - ) + with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.use_amp else nullcontext(): + eval_info = eval_policy( + eval_env, + policy, + cfg.eval.n_episodes, + video_dir=Path(out_dir) / "eval", + max_episodes_rendered=4, + start_seed=cfg.seed, + ) log_eval_info(logger, eval_info["aggregated"], step, cfg, offline_dataset, is_offline) if cfg.wandb.enable: logger.log_video(eval_info["video_paths"][0], step, mode="eval") @@ -389,23 +312,30 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No num_workers=4, batch_size=cfg.training.batch_size, shuffle=True, - pin_memory=cfg.device != "cpu", + pin_memory=device.type != "cpu", drop_last=False, ) dl_iter = cycle(dataloader) policy.train() - step = 0 # number of policy update (forward + backward + optim) is_offline = True - for offline_step in range(cfg.training.offline_steps): - if offline_step == 0: + for step in range(cfg.training.offline_steps): + if step == 0: logging.info("Start offline training on a fixed dataset") batch = next(dl_iter) for key in batch: - batch[key] = batch[key].to(cfg.device, non_blocking=True) + batch[key] = batch[key].to(device, non_blocking=True) - train_info = update_policy(policy, batch, optimizer, cfg.training.grad_clip_norm, lr_scheduler) + train_info = update_policy( + policy, + batch, + optimizer, + cfg.training.grad_clip_norm, + grad_scaler=grad_scaler, + lr_scheduler=lr_scheduler, + use_amp=cfg.use_amp, + ) # TODO(rcadene): is it ok if step_t=0 = 0 and not 1 as previously done? if step % cfg.training.log_freq == 0: @@ -415,11 +345,6 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No # so we pass in step + 1. evaluate_and_checkpoint_if_needed(step + 1) - step += 1 - - # create an env dedicated to online episodes collection from policy rollout - online_training_env = make_env(cfg, n_envs=1) - # create an empty online dataset similar to offline dataset online_dataset = deepcopy(offline_dataset) online_dataset.hf_dataset = {} @@ -436,58 +361,11 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No num_workers=4, batch_size=cfg.training.batch_size, sampler=sampler, - pin_memory=cfg.device != "cpu", + pin_memory=device.type != "cpu", drop_last=False, ) - dl_iter = cycle(dataloader) - - online_step = 0 - is_offline = False - for env_step in range(cfg.training.online_steps): - if env_step == 0: - logging.info("Start online training by interacting with environment") - - policy.eval() - with torch.no_grad(): - eval_info = eval_policy( - online_training_env, - policy, - n_episodes=1, - return_episode_data=True, - start_seed=cfg.training.online_env_seed, - enable_progbar=True, - ) - - add_episodes_inplace( - online_dataset, - concat_dataset, - sampler, - hf_dataset=eval_info["episodes"]["hf_dataset"], - episode_data_index=eval_info["episodes"]["episode_data_index"], - pc_online_samples=cfg.training.online_sampling_ratio, - ) - - policy.train() - for _ in range(cfg.training.online_steps_between_rollouts): - batch = next(dl_iter) - - for key in batch: - batch[key] = 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"lerobot/aloha_sim_insertion_human", - # "lerobot/umi_cup_in_the_wild", - ] for dataset in available_datasets: save_dataset_to_safetensors("tests/data/save_dataset_to_safetensors", repo_id=dataset) diff --git a/tests/scripts/save_policy_to_safetensor.py b/tests/scripts/save_policy_to_safetensor.py index e79a94ff9..89f333742 100644 --- a/tests/scripts/save_policy_to_safetensor.py +++ b/tests/scripts/save_policy_to_safetensor.py @@ -26,7 +26,7 @@ from lerobot.scripts.train import make_optimizer_and_scheduler from tests.utils import DEFAULT_CONFIG_PATH -def get_policy_stats(env_name, policy_name, extra_overrides=None): +def get_policy_stats(env_name, policy_name, extra_overrides): cfg = init_hydra_config( DEFAULT_CONFIG_PATH, overrides=[ @@ -92,6 +92,9 @@ def save_policy_to_safetensors(output_dir, env_name, policy_name, extra_override env_policy_dir = Path(output_dir) / f"{env_name}_{policy_name}" if env_policy_dir.exists(): + print(f"Overwrite existing safetensors in '{env_policy_dir}':") + print(f" - Validate with: `git add {env_policy_dir}`") + print(f" - Revert with: `git checkout -- {env_policy_dir}`") shutil.rmtree(env_policy_dir) env_policy_dir.mkdir(parents=True, exist_ok=True) @@ -103,8 +106,14 @@ def save_policy_to_safetensors(output_dir, env_name, policy_name, extra_override if __name__ == "__main__": - # Instructions: include the policies that you want to save artifacts for here. Please make sure to revert - # your changes when you are done. - env_policies = [] + env_policies = [ + ("xarm", "tdmpc", []), + ( + "pusht", + "diffusion", + ["policy.n_action_steps=8", "policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"], + ), + ("aloha", "act", ["policy.n_action_steps=10"]), + ] for env, policy, extra_overrides in env_policies: save_policy_to_safetensors("tests/data/save_policy_to_safetensors", env, policy, extra_overrides) diff --git a/tests/test_examples.py b/tests/test_examples.py index de95a9915..a0c60b7e8 100644 --- a/tests/test_examples.py +++ b/tests/test_examples.py @@ -14,6 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # TODO(aliberts): Mute logging for these tests +import io import subprocess import sys from pathlib import Path @@ -32,6 +33,11 @@ def _run_script(path): subprocess.run([sys.executable, path], check=True) +def _read_file(path): + with open(path) as file: + return file.read() + + def test_example_1(): path = "examples/1_load_lerobot_dataset.py" _run_script(path) @@ -39,18 +45,17 @@ def test_example_1(): @require_package("gym_pusht") -def test_examples_3_and_2(): +def test_examples_2_through_4(): """ Train a model with example 3, check the outputs. Evaluate the trained model with example 2, check the outputs. + Calculate the validation loss with example 4, check the outputs. """ - path = "examples/3_train_policy.py" + ### Test example 3 + file_contents = _read_file("examples/3_train_policy.py") - with open(path) as file: - file_contents = file.read() - - # Do less steps, use smaller batch, use CPU, and don't complicate things with dataloader workers. + # Do fewer steps, use smaller batch, use CPU, and don't complicate things with dataloader workers. file_contents = _find_and_replace( file_contents, [ @@ -67,16 +72,17 @@ def test_examples_3_and_2(): for file_name in ["model.safetensors", "config.json"]: assert Path(f"outputs/train/example_pusht_diffusion/{file_name}").exists() - path = "examples/2_evaluate_pretrained_policy.py" + ### Test example 2 + file_contents = _read_file("examples/2_evaluate_pretrained_policy.py") - with open(path) as file: - file_contents = file.read() - - # Do less evals, use CPU, and use the local model. + # Do fewer evals, use CPU, and use the local model. file_contents = _find_and_replace( file_contents, [ - ('pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))', ""), + ( + 'pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))', + "", + ), ( '# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")', 'pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")', @@ -89,3 +95,34 @@ def test_examples_3_and_2(): exec(file_contents, {}) assert Path("outputs/eval/example_pusht_diffusion/rollout.mp4").exists() + + ## Test example 4 + file_contents = _read_file("examples/4_calculate_validation_loss.py") + + # Run on a single example from the last episode, use CPU, and use the local model. + file_contents = _find_and_replace( + file_contents, + [ + ( + 'pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))', + "", + ), + ( + '# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")', + 'pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")', + ), + ('split=f"train[{first_val_frame_index}:]"', 'split="train[30:]"'), + ("num_workers=4", "num_workers=0"), + ('device = torch.device("cuda")', 'device = torch.device("cpu")'), + ("batch_size=64", "batch_size=1"), + ], + ) + + # Capture the output of the script + output_buffer = io.StringIO() + sys.stdout = output_buffer + exec(file_contents, {}) + printed_output = output_buffer.getvalue() + # Restore stdout to its original state + sys.stdout = sys.__stdout__ + assert "Average loss on validation set" in printed_output diff --git a/tests/test_policies.py b/tests/test_policies.py index 75633fe66..bb0c7b803 100644 --- a/tests/test_policies.py +++ b/tests/test_policies.py @@ -31,7 +31,7 @@ from lerobot.common.policies.normalize import Normalize, Unnormalize from lerobot.common.policies.policy_protocol import Policy from lerobot.common.utils.utils import init_hydra_config from tests.scripts.save_policy_to_safetensor import get_policy_stats -from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_env, require_x86_64_kernel +from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_cpu, require_env, require_x86_64_kernel @pytest.mark.parametrize("policy_name", available_policies) @@ -296,16 +296,17 @@ def test_normalize(insert_temporal_dim): # As artifacts have been generated on an x86_64 kernel, this test won't # pass if it's run on another platform due to floating point errors @require_x86_64_kernel +@require_cpu def test_backward_compatibility(env_name, policy_name, extra_overrides): """ NOTE: If this test does not pass, and you have intentionally changed something in the policy: 1. Inspect the differences in policy outputs and make sure you can account for them. Your PR should include a report on what changed and how that affected the outputs. - 2. Go to the `if __name__ == "__main__"` block of `test/scripts/save_policy_to_safetensors.py` and + 2. Go to the `if __name__ == "__main__"` block of `tests/scripts/save_policy_to_safetensors.py` and add the policies you want to update the test artifacts for. - 3. Run `python test/scripts/save_policy_to_safetensors.py`. The test artifact should be updated. + 3. Run `python tests/scripts/save_policy_to_safetensors.py`. The test artifact should be updated. 4. Check that this test now passes. - 5. Remember to restore `test/scripts/save_policy_to_safetensors.py` to its original state. + 5. Remember to restore `tests/scripts/save_policy_to_safetensors.py` to its original state. 6. Remember to stage and commit the resulting changes to `tests/data`. """ env_policy_dir = Path("tests/data/save_policy_to_safetensors") / f"{env_name}_{policy_name}" diff --git a/tests/test_utils.py b/tests/test_utils.py index bcdd95b4e..a7f770fb8 100644 --- a/tests/test_utils.py +++ b/tests/test_utils.py @@ -4,20 +4,28 @@ from typing import Callable import numpy as np import pytest import torch +from datasets import Dataset +from lerobot.common.datasets.utils import ( + calculate_episode_data_index, + hf_transform_to_torch, + reset_episode_index, +) 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 [], + ( + [ + 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) @@ -36,3 +44,31 @@ def test_seeding(rand_fn: Callable[[], int]): c_ = rand_fn() # Check that `seeded_context` and `global_seed` give the same reproducibility. assert c_ == c + + +def test_calculate_episode_data_index(): + dataset = Dataset.from_dict( + { + "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6], + "index": [0, 1, 2, 3, 4, 5], + "episode_index": [0, 0, 1, 2, 2, 2], + }, + ) + dataset.set_transform(hf_transform_to_torch) + episode_data_index = calculate_episode_data_index(dataset) + assert torch.equal(episode_data_index["from"], torch.tensor([0, 2, 3])) + assert torch.equal(episode_data_index["to"], torch.tensor([2, 3, 6])) + + +def test_reset_episode_index(): + dataset = Dataset.from_dict( + { + "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6], + "index": [0, 1, 2, 3, 4, 5], + "episode_index": [10, 10, 11, 12, 12, 12], + }, + ) + dataset.set_transform(hf_transform_to_torch) + correct_episode_index = [0, 0, 1, 2, 2, 2] + dataset = reset_episode_index(dataset) + assert dataset["episode_index"] == correct_episode_index