Merge branch 'main' into torchcodec-cpu

lerobot/common/constants.py

@@ -1,3 +1,16 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 # keys
 import os
 from pathlib import Path

lerobot/common/datasets/backward_compatibility.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import packaging.version
 
 V2_MESSAGE = """

lerobot/common/datasets/v21/_remove_language_instruction.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import logging
 import traceback
 from pathlib import Path

lerobot/common/datasets/v21/convert_dataset_v20_to_v21.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """
 This script will help you convert any LeRobot dataset already pushed to the hub from codebase version 2.0 to
 2.1. It will:

lerobot/common/datasets/v21/convert_stats.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from concurrent.futures import ThreadPoolExecutor, as_completed
 
 import numpy as np

lerobot/common/envs/__init__.py

@@ -1 +1,15 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from .configs import AlohaEnv, EnvConfig, PushtEnv, XarmEnv  # noqa: F401

lerobot/common/envs/configs.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import abc
 from dataclasses import dataclass, field
 

lerobot/common/optim/__init__.py

@@ -1 +1,15 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from .optimizers import OptimizerConfig as OptimizerConfig

lerobot/common/policies/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from .act.configuration_act import ACTConfig as ACTConfig
 from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig
 from .pi0.configuration_pi0 import PI0Config as PI0Config

lerobot/common/policies/factory.py

@@ -16,7 +16,6 @@
 
 import logging
 
-import torch
 from torch import nn
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDatasetMetadata
@@ -76,7 +75,6 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
 
 def make_policy(
     cfg: PreTrainedConfig,
-    device: str | torch.device,
     ds_meta: LeRobotDatasetMetadata | None = None,
     env_cfg: EnvConfig | None = None,
 ) -> PreTrainedPolicy:
@@ -88,7 +86,6 @@ def make_policy(
     Args:
         cfg (PreTrainedConfig): The config of the policy to make. If `pretrained_path` is set, the policy will
             be loaded with the weights from that path.
-        device (str): the device to load the policy onto.
         ds_meta (LeRobotDatasetMetadata | None, optional): Dataset metadata to take input/output shapes and
             statistics to use for (un)normalization of inputs/outputs in the policy. Defaults to None.
         env_cfg (EnvConfig | None, optional): The config of a gym environment to parse features from. Must be
@@ -96,7 +93,7 @@ def make_policy(
 
     Raises:
         ValueError: Either ds_meta or env and env_cfg must be provided.
-        NotImplementedError: if the policy.type is 'vqbet' and the device 'mps' (due to an incompatibility)
+        NotImplementedError: if the policy.type is 'vqbet' and the policy device 'mps' (due to an incompatibility)
 
     Returns:
         PreTrainedPolicy: _description_
@@ -111,7 +108,7 @@ def make_policy(
     # https://github.com/pytorch/pytorch/issues/77764. As a temporary fix, you can set the environment
     # variable `PYTORCH_ENABLE_MPS_FALLBACK=1` to use the CPU as a fallback for this op. WARNING: this will be
     # slower than running natively on MPS.
-    if cfg.type == "vqbet" and str(device) == "mps":
+    if cfg.type == "vqbet" and cfg.device == "mps":
         raise NotImplementedError(
             "Current implementation of VQBeT does not support `mps` backend. "
             "Please use `cpu` or `cuda` backend."
@@ -145,7 +142,7 @@ def make_policy(
         # Make a fresh policy.
         policy = policy_cls(**kwargs)
 
-    policy.to(device)
+    policy.to(cfg.device)
     assert isinstance(policy, nn.Module)
 
     # policy = torch.compile(policy, mode="reduce-overhead")

lerobot/common/policies/pi0/configuration_pi0.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from dataclasses import dataclass, field
 
 from lerobot.common.optim.optimizers import AdamWConfig
@@ -76,6 +90,7 @@ class PI0Config(PreTrainedConfig):
     def __post_init__(self):
         super().__post_init__()
 
+        # TODO(Steven): Validate device and amp? in all policy configs?
         """Input validation (not exhaustive)."""
         if self.n_action_steps > self.chunk_size:
             raise ValueError(

lerobot/common/policies/pi0/conversion_scripts/benchmark.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import torch
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
@@ -31,7 +45,7 @@ def main():
 
     cfg = PreTrainedConfig.from_pretrained(ckpt_torch_dir)
     cfg.pretrained_path = ckpt_torch_dir
-    policy = make_policy(cfg, device, ds_meta=dataset.meta)
+    policy = make_policy(cfg, ds_meta=dataset.meta)
 
     # policy = torch.compile(policy, mode="reduce-overhead")
 

lerobot/common/policies/pi0/conversion_scripts/compare_with_jax.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import json
 import pickle
 from pathlib import Path
@@ -87,7 +101,7 @@ def main():
 
     cfg = PreTrainedConfig.from_pretrained(ckpt_torch_dir)
     cfg.pretrained_path = ckpt_torch_dir
-    policy = make_policy(cfg, device, dataset_meta)
+    policy = make_policy(cfg, dataset_meta)
 
     # loss_dict = policy.forward(batch, noise=noise, time=time_beta)
     # loss_dict["loss"].backward()

lerobot/common/policies/pi0/conversion_scripts/conversion_utils.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from transformers import GemmaConfig, PaliGemmaConfig
 
 

lerobot/common/policies/pi0/conversion_scripts/convert_pi0_to_hf_lerobot.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """
 Convert pi0 parameters from Jax to Pytorch
 

lerobot/common/policies/pi0/flex_attention.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import torch
 import torch.nn.functional as F  # noqa: N812
 from packaging.version import Version

lerobot/common/policies/pi0/modeling_pi0.py

@@ -313,7 +313,7 @@ class PI0Policy(PreTrainedPolicy):
         state = self.prepare_state(batch)
         lang_tokens, lang_masks = self.prepare_language(batch)
         actions = self.prepare_action(batch)
-        actions_is_pad = batch.get("actions_id_pad")
+        actions_is_pad = batch.get("actions_is_pad")
 
         loss_dict = {}
         losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)

lerobot/common/policies/pi0/paligemma_with_expert.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from typing import List, Optional, Union
 
 import torch

lerobot/common/policies/pretrained.py

@@ -1,3 +1,16 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 import abc
 import logging
 import os
@@ -73,7 +86,6 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
         cache_dir: str | Path | None = None,
         local_files_only: bool = False,
         revision: str | None = None,
-        map_location: str = "cpu",
         strict: bool = False,
         **kwargs,
     ) -> T:
@@ -98,7 +110,7 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
         if os.path.isdir(model_id):
             print("Loading weights from local directory")
             model_file = os.path.join(model_id, SAFETENSORS_SINGLE_FILE)
-            policy = cls._load_as_safetensor(instance, model_file, map_location, strict)
+            policy = cls._load_as_safetensor(instance, model_file, config.device, strict)
         else:
             try:
                 model_file = hf_hub_download(
@@ -112,13 +124,13 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
                     token=token,
                     local_files_only=local_files_only,
                 )
-                policy = cls._load_as_safetensor(instance, model_file, map_location, strict)
+                policy = cls._load_as_safetensor(instance, model_file, config.device, strict)
             except HfHubHTTPError as e:
                 raise FileNotFoundError(
                     f"{SAFETENSORS_SINGLE_FILE} not found on the HuggingFace Hub in {model_id}"
                 ) from e
 
-        policy.to(map_location)
+        policy.to(config.device)
         policy.eval()
         return policy
 

lerobot/common/robot_devices/cameras/configs.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import abc
 from dataclasses import dataclass
 

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """
 This file contains utilities for recording frames from Intel Realsense cameras.
 """
@@ -100,7 +114,7 @@ def save_images_from_cameras(
         camera = IntelRealSenseCamera(config)
         camera.connect()
         print(
-            f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.width}, height={camera.height}, color_mode={camera.color_mode})"
+            f"IntelRealSenseCamera({camera.serial_number}, fps={camera.fps}, width={camera.capture_width}, height={camera.capture_height}, color_mode={camera.color_mode})"
         )
         cameras.append(camera)
 
@@ -210,9 +224,20 @@ class IntelRealSenseCamera:
             self.serial_number = self.find_serial_number_from_name(config.name)
         else:
             self.serial_number = config.serial_number
+
+        # Store the raw (capture) resolution from the config.
+        self.capture_width = config.width
+        self.capture_height = config.height
+
+        # If rotated by ±90, swap width and height.
+        if config.rotation in [-90, 90]:
+            self.width = config.height
+            self.height = config.width
+        else:
+            self.width = config.width
+            self.height = config.height
+
         self.fps = config.fps
-        self.width = config.width
-        self.height = config.height
         self.channels = config.channels
         self.color_mode = config.color_mode
         self.use_depth = config.use_depth
@@ -232,7 +257,6 @@ class IntelRealSenseCamera:
         else:
             import cv2
 
-        # TODO(alibets): Do we keep original width/height or do we define them after rotation?
         self.rotation = None
         if config.rotation == -90:
             self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
@@ -270,15 +294,19 @@ class IntelRealSenseCamera:
         config = rs.config()
         config.enable_device(str(self.serial_number))
 
-        if self.fps and self.width and self.height:
+        if self.fps and self.capture_width and self.capture_height:
             # TODO(rcadene): can we set rgb8 directly?
-            config.enable_stream(rs.stream.color, self.width, self.height, rs.format.rgb8, self.fps)
+            config.enable_stream(
+                rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
+            )
         else:
             config.enable_stream(rs.stream.color)
 
         if self.use_depth:
-            if self.fps and self.width and self.height:
-                config.enable_stream(rs.stream.depth, self.width, self.height, rs.format.z16, self.fps)
+            if self.fps and self.capture_width and self.capture_height:
+                config.enable_stream(
+                    rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
+                )
             else:
                 config.enable_stream(rs.stream.depth)
 
@@ -316,18 +344,18 @@ class IntelRealSenseCamera:
             raise OSError(
                 f"Can't set {self.fps=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_fps}."
             )
-        if self.width is not None and self.width != actual_width:
+        if self.capture_width is not None and self.capture_width != actual_width:
             raise OSError(
-                f"Can't set {self.width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}."
+                f"Can't set {self.capture_width=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_width}."
             )
-        if self.height is not None and self.height != actual_height:
+        if self.capture_height is not None and self.capture_height != actual_height:
             raise OSError(
-                f"Can't set {self.height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}."
+                f"Can't set {self.capture_height=} for IntelRealSenseCamera({self.serial_number}). Actual value is {actual_height}."
             )
 
         self.fps = round(actual_fps)
-        self.width = round(actual_width)
-        self.height = round(actual_height)
+        self.capture_width = round(actual_width)
+        self.capture_height = round(actual_height)
 
         self.is_connected = True
 
@@ -373,7 +401,7 @@ class IntelRealSenseCamera:
             color_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR)
 
         h, w, _ = color_image.shape
-        if h != self.height or w != self.width:
+        if h != self.capture_height or w != self.capture_width:
             raise OSError(
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )
@@ -395,7 +423,7 @@ class IntelRealSenseCamera:
             depth_map = np.asanyarray(depth_frame.get_data())
 
             h, w = depth_map.shape
-            if h != self.height or w != self.width:
+            if h != self.capture_height or w != self.capture_width:
                 raise OSError(
                     f"Can't capture depth map with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
                 )

lerobot/common/robot_devices/cameras/opencv.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """
 This file contains utilities for recording frames from cameras. For more info look at `OpenCVCamera` docstring.
 """
@@ -130,8 +144,8 @@ def save_images_from_cameras(
         camera = OpenCVCamera(config)
         camera.connect()
         print(
-            f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.width}, "
-            f"height={camera.height}, color_mode={camera.color_mode})"
+            f"OpenCVCamera({camera.camera_index}, fps={camera.fps}, width={camera.capture_width}, "
+            f"height={camera.capture_height}, color_mode={camera.color_mode})"
         )
         cameras.append(camera)
 
@@ -230,9 +244,19 @@ class OpenCVCamera:
             else:
                 raise ValueError(f"Please check the provided camera_index: {self.camera_index}")
 
+        # Store the raw (capture) resolution from the config.
+        self.capture_width = config.width
+        self.capture_height = config.height
+
+        # If rotated by ±90, swap width and height.
+        if config.rotation in [-90, 90]:
+            self.width = config.height
+            self.height = config.width
+        else:
+            self.width = config.width
+            self.height = config.height
+
         self.fps = config.fps
-        self.width = config.width
-        self.height = config.height
         self.channels = config.channels
         self.color_mode = config.color_mode
         self.mock = config.mock
@@ -249,7 +273,6 @@ class OpenCVCamera:
         else:
             import cv2
 
-        # TODO(aliberts): Do we keep original width/height or do we define them after rotation?
         self.rotation = None
         if config.rotation == -90:
             self.rotation = cv2.ROTATE_90_COUNTERCLOCKWISE
@@ -271,10 +294,20 @@ class OpenCVCamera:
             # when other threads are used to save the images.
             cv2.setNumThreads(1)
 
+        backend = (
+            cv2.CAP_V4L2
+            if platform.system() == "Linux"
+            else cv2.CAP_DSHOW
+            if platform.system() == "Windows"
+            else cv2.CAP_AVFOUNDATION
+            if platform.system() == "Darwin"
+            else cv2.CAP_ANY
+        )
+
         camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index
         # First create a temporary camera trying to access `camera_index`,
         # and verify it is a valid camera by calling `isOpened`.
-        tmp_camera = cv2.VideoCapture(camera_idx)
+        tmp_camera = cv2.VideoCapture(camera_idx, backend)
         is_camera_open = tmp_camera.isOpened()
         # Release camera to make it accessible for `find_camera_indices`
         tmp_camera.release()
@@ -297,14 +330,14 @@ class OpenCVCamera:
         # Secondly, create the camera that will be used downstream.
         # Note: For some unknown reason, calling `isOpened` blocks the camera which then
         # needs to be re-created.
-        self.camera = cv2.VideoCapture(camera_idx)
+        self.camera = cv2.VideoCapture(camera_idx, backend)
 
         if self.fps is not None:
             self.camera.set(cv2.CAP_PROP_FPS, self.fps)
-        if self.width is not None:
-            self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
-        if self.height is not None:
-            self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
+        if self.capture_width is not None:
+            self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.capture_width)
+        if self.capture_height is not None:
+            self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.capture_height)
 
         actual_fps = self.camera.get(cv2.CAP_PROP_FPS)
         actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)
@@ -316,19 +349,22 @@ class OpenCVCamera:
             raise OSError(
                 f"Can't set {self.fps=} for OpenCVCamera({self.camera_index}). Actual value is {actual_fps}."
             )
-        if self.width is not None and not math.isclose(self.width, actual_width, rel_tol=1e-3):
+        if self.capture_width is not None and not math.isclose(
+            self.capture_width, actual_width, rel_tol=1e-3
+        ):
             raise OSError(
-                f"Can't set {self.width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
+                f"Can't set {self.capture_width=} for OpenCVCamera({self.camera_index}). Actual value is {actual_width}."
             )
-        if self.height is not None and not math.isclose(self.height, actual_height, rel_tol=1e-3):
+        if self.capture_height is not None and not math.isclose(
+            self.capture_height, actual_height, rel_tol=1e-3
+        ):
             raise OSError(
-                f"Can't set {self.height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
+                f"Can't set {self.capture_height=} for OpenCVCamera({self.camera_index}). Actual value is {actual_height}."
             )
 
         self.fps = round(actual_fps)
-        self.width = round(actual_width)
-        self.height = round(actual_height)
-
+        self.capture_width = round(actual_width)
+        self.capture_height = round(actual_height)
         self.is_connected = True
 
     def read(self, temporary_color_mode: str | None = None) -> np.ndarray:
@@ -369,7 +405,7 @@ class OpenCVCamera:
             color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)
 
         h, w, _ = color_image.shape
-        if h != self.height or w != self.width:
+        if h != self.capture_height or w != self.capture_width:
             raise OSError(
                 f"Can't capture color image with expected height and width ({self.height} x {self.width}). ({h} x {w}) returned instead."
             )

lerobot/common/robot_devices/cameras/utils.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from typing import Protocol
 
 import numpy as np
@@ -31,7 +45,7 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> list[C
 
             cameras[key] = IntelRealSenseCamera(cfg)
         else:
-            raise ValueError(f"The motor type '{cfg.type}' is not valid.")
+            raise ValueError(f"The camera type '{cfg.type}' is not valid.")
 
     return cameras
 

lerobot/common/robot_devices/control_configs.py

@@ -1,14 +1,25 @@
-import logging
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from dataclasses import dataclass
 from pathlib import Path
 
 import draccus
 
 from lerobot.common.robot_devices.robots.configs import RobotConfig
-from lerobot.common.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.configs.train import TrainPipelineConfig
 
 
 @dataclass
@@ -43,11 +54,6 @@ class RecordControlConfig(ControlConfig):
     # Root directory where the dataset will be stored (e.g. 'dataset/path').
     root: str | Path | None = None
     policy: PreTrainedConfig | None = None
-    # TODO(rcadene, aliberts): By default, use device and use_amp values from policy checkpoint.
-    device: str | None = None  # cuda | cpu | mps
-    # `use_amp` determines whether to use Automatic Mixed Precision (AMP) for training and evaluation. With AMP,
-    # automatic gradient scaling is used.
-    use_amp: bool | None = None
     # Limit the frames per second. By default, uses the policy fps.
     fps: int | None = None
     # Number of seconds before starting data collection. It allows the robot devices to warmup and synchronize.
@@ -90,27 +96,6 @@ class RecordControlConfig(ControlConfig):
             self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
             self.policy.pretrained_path = policy_path
 
-            # When no device or use_amp are given, use the one from training config.
-            if self.device is None or self.use_amp is None:
-                train_cfg = TrainPipelineConfig.from_pretrained(policy_path)
-                if self.device is None:
-                    self.device = train_cfg.device
-                if self.use_amp is None:
-                    self.use_amp = train_cfg.use_amp
-
-            # Automatically switch to available device if necessary
-            if not is_torch_device_available(self.device):
-                auto_device = auto_select_torch_device()
-                logging.warning(f"Device '{self.device}' is not available. Switching to '{auto_device}'.")
-                self.device = auto_device
-
-            # Automatically deactivate AMP if necessary
-            if self.use_amp and not is_amp_available(self.device):
-                logging.warning(
-                    f"Automatic Mixed Precision (amp) is not available on device '{self.device}'. Deactivating AMP."
-                )
-                self.use_amp = False
-
 
 @ControlConfig.register_subclass("replay")
 @dataclass

lerobot/common/robot_devices/control_utils.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 ########################################################################################
 # Utilities
 ########################################################################################
@@ -18,6 +32,7 @@ from termcolor import colored
 from lerobot.common.datasets.image_writer import safe_stop_image_writer
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.common.datasets.utils import get_features_from_robot
+from lerobot.common.policies.pretrained import PreTrainedPolicy
 from lerobot.common.robot_devices.robots.utils import Robot
 from lerobot.common.robot_devices.utils import busy_wait
 from lerobot.common.utils.utils import get_safe_torch_device, has_method
@@ -179,8 +194,6 @@ def record_episode(
     episode_time_s,
     display_cameras,
     policy,
-    device,
-    use_amp,
     fps,
     single_task,
 ):
@@ -191,8 +204,6 @@ def record_episode(
         dataset=dataset,
         events=events,
         policy=policy,
-        device=device,
-        use_amp=use_amp,
         fps=fps,
         teleoperate=policy is None,
         single_task=single_task,
@@ -207,9 +218,7 @@ def control_loop(
     display_cameras=False,
     dataset: LeRobotDataset | None = None,
     events=None,
-    policy=None,
-    device: torch.device | str | None = None,
-    use_amp: bool | None = None,
+    policy: PreTrainedPolicy = None,
     fps: int | None = None,
     single_task: str | None = None,
 ):
@@ -232,9 +241,6 @@ def control_loop(
     if dataset is not None and fps is not None and dataset.fps != fps:
         raise ValueError(f"The dataset fps should be equal to requested fps ({dataset['fps']} != {fps}).")
 
-    if isinstance(device, str):
-        device = get_safe_torch_device(device)
-
     timestamp = 0
     start_episode_t = time.perf_counter()
     while timestamp < control_time_s:
@@ -246,7 +252,9 @@ def control_loop(
             observation = robot.capture_observation()
 
             if policy is not None:
-                pred_action = predict_action(observation, policy, device, use_amp)
+                pred_action = predict_action(
+                    observation, policy, get_safe_torch_device(policy.config.device), policy.config.use_amp
+                )
                 # Action can eventually be clipped using `max_relative_target`,
                 # so action actually sent is saved in the dataset.
                 action = robot.send_action(pred_action)

lerobot/common/robot_devices/motors/configs.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import abc
 from dataclasses import dataclass
 

lerobot/common/robot_devices/motors/dynamixel.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import enum
 import logging
 import math

lerobot/common/robot_devices/motors/feetech.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import enum
 import logging
 import math

lerobot/common/robot_devices/motors/utils.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from typing import Protocol
 
 from lerobot.common.robot_devices.motors.configs import (

lerobot/common/robot_devices/robots/configs.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import abc
 from dataclasses import dataclass, field
 from typing import Sequence

lerobot/common/robot_devices/robots/dynamixel_calibration.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """Logic to calibrate a robot arm built with dynamixel motors"""
 # TODO(rcadene, aliberts): move this logic into the robot code when refactoring
 

lerobot/common/robot_devices/robots/feetech_calibration.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """Logic to calibrate a robot arm built with feetech motors"""
 # TODO(rcadene, aliberts): move this logic into the robot code when refactoring
 

lerobot/common/robot_devices/robots/lekiwi_remote.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import base64
 import json
 import threading

lerobot/common/robot_devices/robots/manipulator.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 """Contains logic to instantiate a robot, read information from its motors and cameras,
 and send orders to its motors.
 """

lerobot/common/robot_devices/robots/mobile_manipulator.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import base64
 import json
 import os
@@ -392,21 +406,19 @@ class MobileManipulator:
         for name in self.leader_arms:
             pos = self.leader_arms[name].read("Present_Position")
             pos_tensor = torch.from_numpy(pos).float()
-            # Instead of pos_tensor.item(), use tolist() to convert the entire tensor to a list
             arm_positions.extend(pos_tensor.tolist())
 
-        # (The rest of your code for generating wheel commands remains unchanged)
-        x_cmd = 0.0  # m/s forward/backward
-        y_cmd = 0.0  # m/s lateral
+        y_cmd = 0.0  # m/s forward/backward
+        x_cmd = 0.0  # m/s lateral
         theta_cmd = 0.0  # deg/s rotation
         if self.pressed_keys["forward"]:
-            x_cmd += xy_speed
-        if self.pressed_keys["backward"]:
-            x_cmd -= xy_speed
-        if self.pressed_keys["left"]:
             y_cmd += xy_speed
-        if self.pressed_keys["right"]:
+        if self.pressed_keys["backward"]:
             y_cmd -= xy_speed
+        if self.pressed_keys["left"]:
+            x_cmd += xy_speed
+        if self.pressed_keys["right"]:
+            x_cmd -= xy_speed
         if self.pressed_keys["rotate_left"]:
             theta_cmd += theta_speed
         if self.pressed_keys["rotate_right"]:
@@ -584,8 +596,8 @@ class MobileManipulator:
         # Create the body velocity vector [x, y, theta_rad].
         velocity_vector = np.array([x_cmd, y_cmd, theta_rad])
 
-        # Define the wheel mounting angles with a -90° offset.
-        angles = np.radians(np.array([240, 120, 0]) - 90)
+        # Define the wheel mounting angles (defined from y axis cw)
+        angles = np.radians(np.array([300, 180, 60]))
         # Build the kinematic matrix: each row maps body velocities to a wheel’s linear speed.
         # The third column (base_radius) accounts for the effect of rotation.
         m = np.array([[np.cos(a), np.sin(a), base_radius] for a in angles])
@@ -641,8 +653,8 @@ class MobileManipulator:
         # Compute each wheel’s linear speed (m/s) from its angular speed.
         wheel_linear_speeds = wheel_radps * wheel_radius
 
-        # Define the wheel mounting angles with a -90° offset.
-        angles = np.radians(np.array([240, 120, 0]) - 90)
+        # Define the wheel mounting angles (defined from y axis cw)
+        angles = np.radians(np.array([300, 180, 60]))
         m = np.array([[np.cos(a), np.sin(a), base_radius] for a in angles])
 
         # Solve the inverse kinematics: body_velocity = M⁻¹ · wheel_linear_speeds.

lerobot/common/robot_devices/robots/utils.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from typing import Protocol
 
 from lerobot.common.robot_devices.robots.configs import (

lerobot/common/robot_devices/utils.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import platform
 import time
 

lerobot/common/utils/hub.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from pathlib import Path
 from tempfile import TemporaryDirectory
 from typing import Any, Type, TypeVar

lerobot/common/utils/utils.py

@@ -51,8 +51,10 @@ def auto_select_torch_device() -> torch.device:
         return torch.device("cpu")
 
 
+# TODO(Steven): Remove log. log shouldn't be an argument, this should be handled by the logger level
 def get_safe_torch_device(try_device: str, log: bool = False) -> torch.device:
     """Given a string, return a torch.device with checks on whether the device is available."""
+    try_device = str(try_device)
     match try_device:
         case "cuda":
             assert torch.cuda.is_available()
@@ -85,6 +87,7 @@ def get_safe_dtype(dtype: torch.dtype, device: str | torch.device):
 
 
 def is_torch_device_available(try_device: str) -> bool:
+    try_device = str(try_device)  # Ensure try_device is a string
     if try_device == "cuda":
         return torch.cuda.is_available()
     elif try_device == "mps":
@@ -92,7 +95,7 @@ def is_torch_device_available(try_device: str) -> bool:
     elif try_device == "cpu":
         return True
     else:
-        raise ValueError(f"Unknown device '{try_device}.")
+        raise ValueError(f"Unknown device {try_device}. Supported devices are: cuda, mps or cpu.")
 
 
 def is_amp_available(device: str):