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.github/poetry/cpu/pyproject.toml

@@ -1,107 +0,0 @@
-[tool.poetry]
-name = "lerobot"
-version = "0.1.0"
-description = "Le robot is learning"
-authors = [
-    "Rémi Cadène <re.cadene@gmail.com>",
-    "Simon Alibert <alibert.sim@gmail.com>",
-]
-repository = "https://github.com/Cadene/lerobot"
-readme = "README.md"
-license = "MIT"
-classifiers=[
-    "Development Status :: 3 - Alpha",
-    "Intended Audience :: Developers",
-    "Topic :: Software Development :: Build Tools",
-    "License :: OSI Approved :: MIT License",
-    "Programming Language :: Python :: 3.10",
-]
-packages = [{include = "lerobot"}]
-
-
-[tool.poetry.dependencies]
-python = "^3.10"
-cython = "^3.0.8"
-termcolor = "^2.4.0"
-omegaconf = "^2.3.0"
-dm-env = "^1.6"
-pandas = "^2.2.1"
-wandb = "^0.16.3"
-moviepy = "^1.0.3"
-imageio = {extras = ["pyav"], version = "^2.34.0"}
-gdown = "^5.1.0"
-hydra-core = "^1.3.2"
-einops = "^0.7.0"
-pygame = "^2.5.2"
-pymunk = "^6.6.0"
-zarr = "^2.17.0"
-shapely = "^2.0.3"
-scikit-image = "^0.22.0"
-numba = "^0.59.0"
-mpmath = "^1.3.0"
-torch = {version = "^2.2.1", source = "torch-cpu"}
-tensordict = {git = "https://github.com/pytorch/tensordict"}
-torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
-mujoco = "^3.1.2"
-mujoco-py = "^2.1.2.14"
-gym = "^0.26.2"
-opencv-python = "^4.9.0.80"
-diffusers = "^0.26.3"
-torchvision = {version = "^0.17.1", source = "torch-cpu"}
-h5py = "^3.10.0"
-dm = "^1.3"
-dm-control = "^1.0.16"
-huggingface-hub = "^0.21.4"
-
-
-[tool.poetry.group.dev.dependencies]
-pre-commit = "^3.6.2"
-debugpy = "^1.8.1"
-pytest = "^8.1.0"
-
-
-[[tool.poetry.source]]
-name = "torch-cpu"
-url = "https://download.pytorch.org/whl/cpu"
-priority = "supplemental"
-
-
-[tool.ruff]
-line-length = 110
-target-version = "py310"
-exclude = [
-    ".bzr",
-    ".direnv",
-    ".eggs",
-    ".git",
-    ".git-rewrite",
-    ".hg",
-    ".mypy_cache",
-    ".nox",
-    ".pants.d",
-    ".pytype",
-    ".ruff_cache",
-    ".svn",
-    ".tox",
-    ".venv",
-    "__pypackages__",
-    "_build",
-    "buck-out",
-    "build",
-    "dist",
-    "node_modules",
-    "venv",
-]
-
-
-[tool.ruff.lint]
-select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
-
-
-[tool.poetry-dynamic-versioning]
-enable = true
-
-
-[build-system]
-requires = ["poetry-core>=1.0.0", "poetry-dynamic-versioning>=1.0.0,<2.0.0"]
-build-backend = "poetry_dynamic_versioning.backend"

.github/workflows/test.yml

@@ -46,8 +46,8 @@ jobs:
         id: restore-poetry-cache
         uses: actions/cache/restore@v3
         with:
-          path: ~/.local
+          path: ~/.local  # the path depends on the OS
-          key: poetry-${{ env.POETRY_VERSION }}
+          key: poetry-${{ env.POETRY_VERSION }}  # increment to reset cache
 
       - name: Install Poetry
         if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
@@ -64,8 +64,8 @@ jobs:
         id: save-poetry-cache
         uses: actions/cache/save@v3
         with:
-          path: ~/.local
+          path: ~/.local  # the path depends on the OS
-          key: poetry-${{ env.POETRY_VERSION }}
+          key: poetry-${{ env.POETRY_VERSION }}  # increment to reset cache
 
       - name: Configure Poetry
         run: poetry config virtualenvs.in-project true
@@ -73,10 +73,6 @@ jobs:
       #----------------------------------------------
       #           install dependencies
       #----------------------------------------------
-      # TODO(aliberts): move to gpu runners
-      - name: Select cpu dependencies  # HACK
-        run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
-
       - name: Load cached venv
         id: restore-dependencies-cache
         uses: actions/cache/restore@v3
@@ -84,10 +80,18 @@ jobs:
           path: .venv
           key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
 
+      - name: Info
+        run: |
+          sudo du -sh /tmp
+          sudo df -h
+
       - name: Install dependencies
         if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
         run: |
           mkdir ~/tmp
+          echo $TMPDIR
+          echo $TEMP
+          echo $TMP
           poetry install --no-interaction --no-root
 
       - name: Save cached venv

README.md

@@ -103,18 +103,6 @@ pre-commit install
 pre-commit run -a
 ```
 
-**Adding dependencies (temporary)**
-
-Right now, for the CI to work, whenever a new dependency is added it needs to be also added to the cpu env, eg:
-
-```
-# Run in this directory, adds the package to the main env with cuda
-poetry add some-package
-
-# Adds the same package to the cpu env
-cd .github/poetry/cpu && poetry add some-package
-```
-
 **Tests**
 
 Install [git lfs](https://git-lfs.com/) to retrieve test artifacts (if you don't have it already).
@@ -146,25 +134,6 @@ Run tests
 DATA_DIR="tests/data" pytest -sx tests
 ```
 
-**Datasets**
-
-To add a pytorch rl dataset to the hub, first login and use a token generated from [huggingface settings](https://huggingface.co/settings/tokens) with write access:
-```
-huggingface-cli login --token $HUGGINGFACE_TOKEN --add-to-git-credential
-```
-
-Then you can upload it to the hub with:
-```
-HF_HUB_ENABLE_HF_TRANSFER=1 huggingface-cli upload --repo-type dataset $HF_USER/$DATASET data/$DATASET
-```
-
-For instance, for [cadene/pusht](https://huggingface.co/datasets/cadene/pusht), we used:
-```
-HF_USER=cadene
-DATASET=pusht
-```
-
-
 ## Acknowledgment
 - Our Diffusion policy and Pusht environment are adapted from [Diffusion Policy](https://diffusion-policy.cs.columbia.edu/)
 - Our TDMPC policy and Simxarm environment are adapted from [FOWM](https://www.yunhaifeng.com/FOWM/)

lerobot/common/datasets/abstract.py

@@ -1,3 +1,4 @@
+import abc
 import logging
 from pathlib import Path
 from typing import Callable
@@ -6,8 +7,8 @@ import einops
 import torch
 import torchrl
 import tqdm
-from huggingface_hub import snapshot_download
 from tensordict import TensorDict
+from torchrl.data.datasets.utils import _get_root_dir
 from torchrl.data.replay_buffers.replay_buffers import TensorDictReplayBuffer
 from torchrl.data.replay_buffers.samplers import SliceSampler
 from torchrl.data.replay_buffers.storages import TensorStorage, _collate_id
@@ -22,7 +23,7 @@ class AbstractExperienceReplay(TensorDictReplayBuffer):
         batch_size: int = None,
         *,
         shuffle: bool = True,
-        root: Path | None = None,
+        root: Path = None,
         pin_memory: bool = False,
         prefetch: int = None,
         sampler: SliceSampler = None,
@@ -32,8 +33,11 @@ class AbstractExperienceReplay(TensorDictReplayBuffer):
     ):
         self.dataset_id = dataset_id
         self.shuffle = shuffle
-        self.root = root
+        self.root = _get_root_dir(self.dataset_id) if root is None else root
-        storage = self._download_or_load_dataset()
+        self.root = Path(self.root)
+        self.data_dir = self.root / self.dataset_id
+
+        storage = self._download_or_load_storage()
 
         super().__init__(
             storage=storage,
@@ -85,7 +89,7 @@ class AbstractExperienceReplay(TensorDictReplayBuffer):
             self._transform = transform
 
     def compute_or_load_stats(self, num_batch=100, batch_size=32) -> TensorDict:
-        stats_path = Path(self.data_dir) / "stats.pth"
+        stats_path = self.data_dir / "stats.pth"
         if stats_path.exists():
             stats = torch.load(stats_path)
         else:
@@ -94,12 +98,19 @@ class AbstractExperienceReplay(TensorDictReplayBuffer):
             torch.save(stats, stats_path)
         return stats
 
-    def _download_or_load_dataset(self) -> torch.StorageBase:
+    @abc.abstractmethod
-        if self.root is None:
+    def _download_and_preproc(self) -> torch.StorageBase:
-            self.data_dir = snapshot_download(repo_id=f"cadene/{self.dataset_id}", repo_type="dataset")
+        raise NotImplementedError()
+
+    def _download_or_load_storage(self):
+        if not self._is_downloaded():
+            storage = self._download_and_preproc()
         else:
-            self.data_dir = self.root / self.dataset_id
+            storage = TensorStorage(TensorDict.load_memmap(self.data_dir))
-        return TensorStorage(TensorDict.load_memmap(self.data_dir))
+        return storage
+
+    def _is_downloaded(self) -> bool:
+        return self.data_dir.is_dir()
 
     def _compute_stats(self, num_batch=100, batch_size=32):
         rb = TensorDictReplayBuffer(

lerobot/common/datasets/aloha.py

@@ -87,7 +87,7 @@ class AlohaExperienceReplay(AbstractExperienceReplay):
         batch_size: int = None,
         *,
         shuffle: bool = True,
-        root: Path | None = None,
+        root: Path = None,
         pin_memory: bool = False,
         prefetch: int = None,
         sampler: SliceSampler = None,
@@ -124,9 +124,8 @@ class AlohaExperienceReplay(AbstractExperienceReplay):
     def image_keys(self) -> list:
         return [("observation", "image", cam) for cam in CAMERAS[self.dataset_id]]
 
-    def _download_and_preproc_obsolete(self):
+    def _download_and_preproc(self):
-        assert self.root is not None
+        raw_dir = self.data_dir.parent / f"{self.data_dir.name}_raw"
-        raw_dir = self.root / f"{self.dataset_id}_raw"
         if not raw_dir.is_dir():
             download(raw_dir, self.dataset_id)
 
@@ -175,7 +174,7 @@ class AlohaExperienceReplay(AbstractExperienceReplay):
 
                 if ep_id == 0:
                     # hack to initialize tensordict data structure to store episodes
-                    td_data = ep_td[0].expand(total_num_frames).memmap_like(self.root / f"{self.dataset_id}")
+                    td_data = ep_td[0].expand(total_num_frames).memmap_like(self.data_dir)
 
                 td_data[idxtd : idxtd + len(ep_td)] = ep_td
                 idxtd = idxtd + len(ep_td)

lerobot/common/datasets/factory.py

@@ -7,10 +7,7 @@ from torchrl.data.replay_buffers import PrioritizedSliceSampler, SliceSampler
 
 from lerobot.common.envs.transforms import NormalizeTransform, Prod
 
-# DATA_DIR specifies to location where datasets are loaded. By default, DATA_DIR is None and
+DATA_DIR = Path(os.environ.get("DATA_DIR", "data"))
-# we load from `$HOME/.cache/huggingface/hub/datasets`. For our unit tests, we set `DATA_DIR=tests/data`
-# to load a subset of our datasets for faster continuous integration.
-DATA_DIR = Path(os.environ["DATA_DIR"]) if "DATA_DIR" in os.environ else None
 
 
 def make_offline_buffer(
@@ -80,9 +77,9 @@ def make_offline_buffer(
 
     offline_buffer = clsfunc(
         dataset_id=dataset_id,
+        root=DATA_DIR,
         sampler=sampler,
         batch_size=batch_size,
-        root=DATA_DIR,
         pin_memory=pin_memory,
         prefetch=prefetch if isinstance(prefetch, int) else None,
     )

lerobot/common/datasets/pusht.py

@@ -90,7 +90,7 @@ class PushtExperienceReplay(AbstractExperienceReplay):
         batch_size: int = None,
         *,
         shuffle: bool = True,
-        root: Path | None = None,
+        root: Path = None,
         pin_memory: bool = False,
         prefetch: int = None,
         sampler: SliceSampler = None,
@@ -111,9 +111,8 @@ class PushtExperienceReplay(AbstractExperienceReplay):
             transform=transform,
         )
 
-    def _download_and_preproc_obsolete(self):
+    def _download_and_preproc(self):
-        assert self.root is not None
+        raw_dir = self.data_dir.parent / f"{self.data_dir.name}_raw"
-        raw_dir = self.root / f"{self.dataset_id}_raw"
         zarr_path = (raw_dir / PUSHT_ZARR).resolve()
         if not zarr_path.is_dir():
             raw_dir.mkdir(parents=True, exist_ok=True)
@@ -209,7 +208,7 @@ class PushtExperienceReplay(AbstractExperienceReplay):
 
             if episode_id == 0:
                 # hack to initialize tensordict data structure to store episodes
-                td_data = ep_td[0].expand(total_frames).memmap_like(self.root / f"{self.dataset_id}")
+                td_data = ep_td[0].expand(total_frames).memmap_like(self.data_dir)
 
             td_data[idxtd : idxtd + len(ep_td)] = ep_td
 

lerobot/common/datasets/simxarm.py

@@ -43,7 +43,7 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
         batch_size: int = None,
         *,
         shuffle: bool = True,
-        root: Path | None = None,
+        root: Path = None,
         pin_memory: bool = False,
         prefetch: int = None,
         sampler: SliceSampler = None,
@@ -64,12 +64,11 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
             transform=transform,
         )
 
-    def _download_and_preproc_obsolete(self):
+    def _download_and_preproc(self):
-        assert self.root is not None
         # TODO(rcadene): finish download
         download()
 
-        dataset_path = self.root / f"{self.dataset_id}_raw" / "buffer.pkl"
+        dataset_path = self.data_dir / "buffer.pkl"
         print(f"Using offline dataset '{dataset_path}'")
         with open(dataset_path, "rb") as f:
             dataset_dict = pickle.load(f)
@@ -111,7 +110,7 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
 
             if episode_id == 0:
                 # hack to initialize tensordict data structure to store episodes
-                td_data = episode[0].expand(total_frames).memmap_like(self.root / f"{self.dataset_id}")
+                td_data = episode[0].expand(total_frames).memmap_like(self.data_dir)
 
             td_data[idx0:idx1] = episode
 

lerobot/common/envs/abstract.py

@@ -4,9 +4,113 @@ from typing import Optional
 
 from tensordict import TensorDict
 from torchrl.envs import EnvBase
+from torchrl.envs.utils import _terminated_or_truncated, step_mdp
 
 
-class AbstractEnv(EnvBase):
+class EnvBaseWithMultiStepRollouts(EnvBase):
+    """Adds handling of policies that output action trajectories to be execute with a fixed horizon."""
+
+    def _rollout_stop_early(
+        self,
+        *,
+        tensordict,
+        auto_cast_to_device,
+        max_steps,
+        policy,
+        policy_device,
+        env_device,
+        callback,
+    ):
+        """Override adds handling of multi-step policies."""
+        tensordicts = []
+        step_ix = 0
+        do_break = False
+        while not do_break:
+            if auto_cast_to_device:
+                if policy_device is not None:
+                    tensordict = tensordict.to(policy_device, non_blocking=True)
+                else:
+                    tensordict.clear_device_()
+            tensordict = policy(tensordict)
+            if auto_cast_to_device:
+                if env_device is not None:
+                    tensordict = tensordict.to(env_device, non_blocking=True)
+                else:
+                    tensordict.clear_device_()
+
+            for action in tensordict["action"].clone():
+                tensordict["action"] = action
+                tensordict = self.step(tensordict)
+                tensordicts.append(tensordict.clone(False))
+
+                if step_ix == max_steps - 1:
+                    # we don't truncated as one could potentially continue the run
+                    do_break = True
+                    break
+                tensordict = step_mdp(
+                    tensordict,
+                    keep_other=True,
+                    exclude_action=False,
+                    exclude_reward=True,
+                    reward_keys=self.reward_keys,
+                    action_keys=self.action_keys,
+                    done_keys=self.done_keys,
+                )
+                # done and truncated are in done_keys
+                # We read if any key is done.
+                any_done = _terminated_or_truncated(
+                    tensordict,
+                    full_done_spec=self.output_spec["full_done_spec"],
+                    key=None,
+                )
+                if any_done:
+                    break
+
+                if callback is not None:
+                    callback(self, tensordict)
+
+                step_ix += 1
+
+        return tensordicts
+
+    def _rollout_nonstop(
+        self,
+        *,
+        tensordict,
+        auto_cast_to_device,
+        max_steps,
+        policy,
+        policy_device,
+        env_device,
+        callback,
+    ):
+        """Override adds handling of multi-step policies."""
+        tensordicts = []
+        tensordict_ = tensordict
+        for i in range(max_steps):
+            if auto_cast_to_device:
+                if policy_device is not None:
+                    tensordict_ = tensordict_.to(policy_device, non_blocking=True)
+                else:
+                    tensordict_.clear_device_()
+            tensordict_ = policy(tensordict_)
+            if auto_cast_to_device:
+                if env_device is not None:
+                    tensordict_ = tensordict_.to(env_device, non_blocking=True)
+                else:
+                    tensordict_.clear_device_()
+            tensordict, tensordict_ = self.step_and_maybe_reset(tensordict_)
+            tensordicts.append(tensordict)
+            if i == max_steps - 1:
+                # we don't truncated as one could potentially continue the run
+                break
+            if callback is not None:
+                callback(self, tensordict)
+
+        return tensordicts
+
+
+class AbstractEnv(EnvBaseWithMultiStepRollouts):
     def __init__(
         self,
         task,

lerobot/common/envs/transforms.py

@@ -4,7 +4,16 @@ import torch
 from tensordict import TensorDictBase
 from tensordict.nn import dispatch
 from tensordict.utils import NestedKey
-from torchrl.envs.transforms import ObservationTransform, Transform
+from torchrl.envs.transforms import ObservationTransform, Transform, TransformedEnv
+from torchrl.envs.transforms.transforms import _TEnvPostInit
+
+from lerobot.common.envs.abstract import EnvBaseWithMultiStepRollouts
+
+
+class TransformedEnv(EnvBaseWithMultiStepRollouts, TransformedEnv, metaclass=_TEnvPostInit):
+    """Keep method overrides from EnvBaseWithMultiStepRollouts."""
+
+    pass
 
 
 class Prod(ObservationTransform):

poetry.lock

@@ -838,78 +838,6 @@ files = [
 [package.dependencies]
 numpy = ">=1.17.3"
 
-[[package]]
-name = "hf-transfer"
-version = "0.1.6"
-description = ""
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:6fd3d61f9229d27def007e53540412507b74ac2fdb1a29985ae0b6a5137749a2"},
-    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b043bb78df1225de043eb041de9d97783fcca14a0bdc1b1d560fc172fc21b648"},
-    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7db60dd18eae4fa6ea157235fb82196cde5313995b396d1b591aad3b790a7f8f"},
-    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:30d31dbab9b5a558cce407b8728e39d87d7af1ef8745ddb90187e9ae0b9e1e90"},
-    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f6b368bddd757efc7af3126ba81f9ac8f9435e2cc00902cb3d64f2be28d8f719"},
-    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aa2086d8aefaaa3e144e167324574882004c0cec49bf2d0638ec4b74732d8da0"},
-    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:45d8985a0940bfe1535cb4ca781f5c11e47c83798ef3373ee1f5d57bbe527a9c"},
-    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2f42b89735f1cde22f2a795d1f0915741023235666be7de45879e533c7d6010c"},
-    {file = "hf_transfer-0.1.6-cp310-none-win32.whl", hash = "sha256:2d2c4c4613f3ad45b6ce6291e347b2d3ba1b86816635681436567e461cb3c961"},
-    {file = "hf_transfer-0.1.6-cp310-none-win_amd64.whl", hash = "sha256:78b0eed8d8dce60168a46e584b9742b816af127d7e410a713e12c31249195342"},
-    {file = "hf_transfer-0.1.6-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:f1d8c172153f9a6cdaecf137612c42796076f61f6bea1072c90ac2e17c1ab6fa"},
-    {file = "hf_transfer-0.1.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:2c601996351f90c514a75a0eeb02bf700b1ad1db2d946cbfe4b60b79e29f0b2f"},
-    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8e585c808405557d3f5488f385706abb696997bbae262ea04520757e30836d9d"},
-    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ec51af1e8cf4268c268bd88932ade3d7ca895a3c661b42493503f02610ae906b"},
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-
 [[package]]
 name = "huggingface-hub"
 version = "0.21.4"
@@ -924,7 +852,6 @@ files = [
 [package.dependencies]
 filelock = "*"
 fsspec = ">=2023.5.0"
-hf-transfer = {version = ">=0.1.4", optional = true, markers = "extra == \"hf_transfer\""}
 packaging = ">=20.9"
 pyyaml = ">=5.1"
 requests = "*"
@@ -3327,4 +3254,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "ee86b84a795e6a3e9c2d79f244a87b55589adbe46d549ac38adf48be27c04cf9"
+content-hash = "3d82309a7b2388d774b56ceb6f6906ef0732d8cedda0d76cc84a30e239949be8"

pyproject.toml

@@ -50,7 +50,6 @@ diffusers = "^0.26.3"
 torchvision = "^0.17.1"
 h5py = "^3.10.0"
 dm-control = "1.0.14"
-huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"}
 
 
 [tool.poetry.group.dev.dependencies]