State-of-the-art Machine Learning for real-world robotics
+ + +--- -**State-of-the-art machine learning for real-world robotics** 🤗 LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier for entry to robotics so that everyone can contribute and benefit from sharing datasets and pretrained models. @@ -44,26 +60,21 @@ ## Installation -Create a virtual environment with Python 3.10, e.g. using `conda`: +Download our source code: +```bash +git clone https://github.com/huggingface/lerobot.git +cd lerobot +``` + +Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html): ```bash conda create -y -n lerobot python=3.10 conda activate lerobot ``` -[Install `poetry`](https://python-poetry.org/docs/#installation) (if you don't have it already) +Then, install 🤗 LeRobot: ```bash -curl -sSL https://install.python-poetry.org | python - -``` - -Install dependencies -```bash -poetry install -``` - -If you encounter a disk space error, try to change your tmp dir to a location where you have enough disk space, e.g. -```bash -mkdir ~/tmp -export TMPDIR='~/tmp' +python -m pip install . ``` To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiments tracking, log in with @@ -188,11 +199,11 @@ hydra.run.dir=outputs/train/aloha_act Feel free to open issues and PRs, and to coordinate your efforts with the community on our [Discord Channel](https://discord.gg/VjFz58wn3R). For specific inquiries, reach out to [Remi Cadene](remi.cadene@huggingface.co). -**TODO** +### TODO If you are not sure how to contribute or want to know the next features we working on, look on this project page: [LeRobot TODO](https://github.com/orgs/huggingface/projects/46) -**Follow our style** +### Follow our style ```bash # install if needed @@ -201,25 +212,33 @@ pre-commit install pre-commit ``` -**Add dependencies** +### Add dependencies -Instead of `pip install some-package`, we use `poetry` to track the versions of our dependencies: +Instead of using `pip` directly, we use `poetry` for development purposes to easily track our dependencies. +If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it. + +Install the project with: +```bash +poetry install +``` + +Then, the equivalent of `pip install some-package`, would just be: ```bash poetry add some-package ``` -**NOTE:** Currently, to ensure the CI works properly, any new package must also be added in the CPU-only environment dedicated CI. To do this, you should create a separate environment and add the new package there as well. For example: +**NOTE:** Currently, to ensure the CI works properly, any new package must also be added in the CPU-only environment dedicated to the CI. To do this, you should create a separate environment and add the new package there as well. For example: ```bash -# add the new package to your main poetry env +# Add the new package to your main poetry env poetry add some-package -# add the same package to the CPU-only env dedicated to CI +# Add the same package to the CPU-only env dedicated to CI conda create -y -n lerobot-ci python=3.10 conda activate lerobot-ci cd .github/poetry/cpu poetry add some-package ``` -**Run tests locally** +### Run tests locally Install [git lfs](https://git-lfs.com/) to retrieve test artifacts (if you don't have it already). @@ -250,7 +269,7 @@ Run tests DATA_DIR="tests/data" pytest -sx tests ``` -**Add a new dataset** +### Add a new dataset To add a dataset to the hub, first login and use a token generated from [huggingface settings](https://huggingface.co/settings/tokens) with write access: ```bash @@ -311,7 +330,7 @@ Finally, you might want to mock the dataset if you need to update the unit tests python tests/scripts/mock_dataset.py --in-data-dir data/$DATASET --out-data-dir tests/data/$DATASET ``` -**Add a pretrained policy** +### Add a pretrained policy Once you have trained a policy you may upload it to the HuggingFace hub. @@ -347,7 +366,7 @@ huggingface-cli upload $HUB_ID to_upload See `eval.py` for an example of how a user may use your policy. -**Improve your code with profiling** +### Improve your code with profiling An example of a code snippet to profile the evaluation of a policy: ```python diff --git a/poetry.lock b/poetry.lock index e47b02008..a1258c064 100644 --- a/poetry.lock +++ b/poetry.lock @@ -327,6 +327,35 @@ files = [ {file = "cloudpickle-3.0.0.tar.gz", hash = "sha256:996d9a482c6fb4f33c1a35335cf8afd065d2a56e973270364840712d9131a882"}, ] +[[package]] +name = "cmake" +version = "3.29.0.1" +description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software" +optional = false +python-versions = ">=3.7" +files = [ + {file = 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