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Merge branch 'main' into user/rcadene/2024_09_10_train_aloha

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This commit is contained in:
Remi
2024-09-15 17:44:52 +02:00
committed by GitHub
parent 783b78ae9a f431a08efa
commit bab19d9b1d
3 changed files with 30 additions and 16 deletions
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2
lerobot/common/envs/utils.py
View File

@@ -39,7 +39,7 @@ def preprocess_observation(observations: dict[str, np.ndarray]) -> dict[str, Ten
# sanity check that images are channel last
_, h, w, c = img.shape
assert c < h and c < w, f"expect channel first images, but instead {img.shape}"
assert c < h and c < w, f"expect channel last images, but instead got {img.shape=}"
# sanity check that images are uint8
assert img.dtype == torch.uint8, f"expect torch.uint8, but instead {img.dtype=}"

31
lerobot/scripts/control_robot.py
View File

@@ -179,13 +179,18 @@ def none_or_int(value):
def log_control_info(robot, dt_s, episode_index=None, frame_index=None, fps=None):
log_items = []
if episode_index is not None:
log_items += [f"ep:{episode_index}"]
log_items.append(f"ep:{episode_index}")
if frame_index is not None:
log_items += [f"frame:{frame_index}"]
log_items.append(f"frame:{frame_index}")
def log_dt(shortname, dt_val_s):
nonlocal log_items
log_items += [f"{shortname}:{dt_val_s * 1000:5.2f} ({1/ dt_val_s:3.1f}hz)"]
nonlocal log_items, fps
info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1/ dt_val_s:3.1f}hz)"
if fps is not None:
actual_fps = 1 / dt_val_s
if actual_fps < fps - 1:
info_str = colored(info_str, "yellow")
log_items.append(info_str)
# total step time displayed in milliseconds and its frequency
log_dt("dt", dt_s)
@@ -210,10 +215,6 @@ def log_control_info(robot, dt_s, episode_index=None, frame_index=None, fps=None
log_dt(f"dtR{name}", robot.logs[key])
info_str = " ".join(log_items)
if fps is not None:
actual_fps = 1 / dt_s
if actual_fps < fps - 1:
info_str = colored(info_str, "yellow")
logging.info(info_str)
@@ -320,7 +321,7 @@ def record(
run_compute_stats=True,
push_to_hub=True,
tags=None,
num_image_writers=8,
num_image_writers_per_camera=4,
force_override=False,
):
# TODO(rcadene): Add option to record logs
@@ -442,8 +443,8 @@ def record(
# Save images using threads to reach high fps (30 and more)
# Using `with` to exist smoothly if an execption is raised.
# Using only 4 worker threads to avoid blocking the main thread.
futures = []
num_image_writers = num_image_writers_per_camera * len(robot.cameras)
with concurrent.futures.ThreadPoolExecutor(max_workers=num_image_writers) as executor:
# Start recording all episodes
while episode_index < num_episodes:
@@ -803,10 +804,14 @@ if __name__ == "__main__":
help="Add tags to your dataset on the hub.",
)
parser_record.add_argument(
"--num-image-writers",
"--num-image-writers-per-camera",
type=int,
default=8,
help="Number of threads writing the frames as png images on disk. Don't set too much as you might get unstable fps due to main thread being blocked.",
default=4,
help=(
"Number of threads writing the frames as png images on disk, per camera. "
"Too much threads might cause unstable teleoperation fps due to main thread being blocked. "
"Not enough threads might cause low camera fps."
),
)
parser_record.add_argument(
"--force-override",

13
lerobot/templates/visualize_dataset_template.html
View File

@@ -82,13 +82,22 @@
Episode {{ episode_id }}
</h1>
<!-- Error message -->
<div class="font-medium text-orange-700 hidden" :class="{ 'hidden': !videoCodecError }">
<p>Videos could NOT play because <a href="https://en.wikipedia.org/wiki/AV1" target="_blank" class="underline">AV1</a> decoding is not available on your browser.</p>
<ul class="list-decimal list-inside">
<li>If iPhone: <span class="italic">It is supported with A17 chip or higher.</span></li>
<li>If Mac with Safari: <span class="italic">It is supported on most browsers except Safari with M1 chip or higher and on Safari with M3 chip or higher.</span></li>
<li>Other: <span class="italic">Contact the maintainers on LeRobot discord channel:</span> <a href="https://discord.com/invite/s3KuuzsPFb" target="_blank" class="underline">https://discord.com/invite/s3KuuzsPFb</a></li>
</ul>
</div>
<!-- Videos -->
<div class="flex flex-wrap gap-1">
<p x-show="videoCodecError" class="font-medium text-orange-700">Videos could NOT play because <a href="https://en.wikipedia.org/wiki/AV1" target="_blank" class="underline">AV1</a> decoding is not available on your browser. Learn more about <a href="https://huggingface.co/blog/video-encoding" target="_blank" class="underline">LeRobot video encoding</a>.</p>
{% for video_info in videos_info %}
<div x-show="!videoCodecError" class="max-w-96">
<p class="text-sm text-gray-300 bg-gray-800 px-2 rounded-t-xl truncate">{{ video_info.filename }}</p>
<video muted loop type="video/mp4" class="min-w-64" @canplaythrough="videoCanPlay" @timeupdate="() => {
<video muted loop type="video/mp4" class="object-contain w-full h-full" @canplaythrough="videoCanPlay" @timeupdate="() => {
if (video.duration) {
const time = video.currentTime;
const pc = (100 / video.duration) * time;