conversion script from original ACT repo

updating with adding masking in ACT - start adding some tests
add train and evals
2024-06-10 23:44:33 +02:00 · 2024-06-10 15:30:57 +02:00 · 2024-06-09 14:03:47 +02:00 · 2024-06-08 17:54:06 +02:00 · 2024-06-08 12:17:28 +02:00 · 2024-06-08 12:17:19 +02:00
27 changed files with 2329 additions and 28 deletions
--- a/README.md
+++ b/README.md
@@ -127,13 +127,21 @@ wandb login

 Check out [example 1](./examples/1_load_lerobot_dataset.py) that illustrates how to use our dataset class which automatically download data from the Hugging Face hub.

-You can also locally visualize episodes from a dataset by executing our script from the command line:
+You can also locally visualize episodes from a dataset on the hub by executing our script from the command line:
 ```bash
 python lerobot/scripts/visualize_dataset.py \
    --repo-id lerobot/pusht \
    --episode-index 0
 ```

+or from a dataset in a local folder with the root `DATA_DIR` environment variable
+```bash
+DATA_DIR='./my_local_data_dir' python lerobot/scripts/visualize_dataset.py \
+    --repo-id lerobot/pusht \
+    --episode-index 0
+```
+
+
 It will open `rerun.io` and display the camera streams, robot states and actions, like this:

 https://github-production-user-asset-6210df.s3.amazonaws.com/4681518/328035972-fd46b787-b532-47e2-bb6f-fd536a55a7ed.mov?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAVCODYLSA53PQK4ZA%2F20240505%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Date=20240505T172924Z&X-Amz-Expires=300&X-Amz-Signature=d680b26c532eeaf80740f08af3320d22ad0b8a4e4da1bcc4f33142c15b509eda&X-Amz-SignedHeaders=host&actor_id=24889239&key_id=0&repo_id=748713144
@@ -141,6 +149,51 @@ https://github-production-user-asset-6210df.s3.amazonaws.com/4681518/328035972-f

 Our script can also visualize datasets stored on a distant server. See `python lerobot/scripts/visualize_dataset.py --help` for more instructions.

+### The `LeRobotDataset` format
+
+A dataset in `LeRobotDataset` format is very simple to use. It can be loaded from a repository on the Hugging Face hub or a local folder simply with e.g. `dataset = LeRobotDataset("lerobot/aloha_static_coffee")` and can be indexed into like any Hugging Face and Pytorch dataset. For instance `dataset[0]` will retrieve a sample of the dataset observations and actions in pytorch tensors format ready to be fed to a model.
+
+A specificity of `LeRobotDataset` is that we can retrieve several frames for one sample query. By setting `delta_timestamps` to a list of delta timestamps, e.g. `delta_timestamps = {"observation.image": [-1, -0.5, -0.2, 0]}`  one can retrieve, for each query, 4 images including one at -1 second before the current time step, the two others at -0.5 second and -0.2, and the final one at the current time step (0 second). See example [1_load_lerobot_dataset.py](examples/1_load_lerobot_dataset.py) for more details on `delta_timestamps`.
+
+Under the hood, the `LeRobotDataset` format makes use of several ways to serialize data which can be useful to understand if you plan to work more closely with this format. We tried to make a flexible yet simple dataset format that would cover most type of features and specificities present in reinforcement learning and robotics, in simulation and in real-world, with a focus on cameras and robot states.
+
+Here are the important details and internal structure organization of a typical `LeRobotDataset` instantiated with `dataset = LeRobotDataset("lerobot/aloha_static_coffee")`. The exact features will change from dataset to dataset but not the main aspects:
+
+```
+dataset attributes:
+  ├ hf_dataset: a Hugging Face dataset (backed by Arrow/parquet). Typical features example:
+  │  ├ observation.images.cam_high: VideoFrame
+  │  │   VideoFrame = {'path': path to a mp4 video, 'timestamp': float32 timestamp in the video}
+  │  ├ observation.state: List of float32: position of an arm joints (for instance)
+  │  ... (more observations)
+  │  ├ action: List of float32
+  │  ├ episode_index: int64: index of the episode for this sample
+  │  ├ frame_index: int64: index of the frame for this sample in the episode ; starts at 0 for each episode
+  │  ├ timestamp: float32: timestamp in the episode
+  │  ├ next.done: bool: indicates the end of en episode ; True for the last frame in each episode
+  │  └ index: int64: general index in the whole dataset
+  ├ episode_data_index: contains 2 tensors with the start and end indices of each episode
+  │  ├ from: 1D int64 tensor of first frame index for each episode: shape (num episodes,) starts with 0
+  │  └ to: 1D int64 tensor of last frame index for each episode: shape (num episodes,)
+  ├ stats: a dictionary of statistics (max, mean, min, std) for each feature in the dataset, for instance
+  │  ├ observation.images.cam_high: {'max': tensor with same number of dimensions (e.g. `(c, 1, 1)` for images, `(c,)` for states), etc.}
+  │  ...
+  ├ info: a dictionary of metadata on the dataset
+  │  ├ fps: float - frame per second the dataset is recorded/synchronized to
+  │  └ video: bool - indicates if frames are encoded in mp4 video files to save space or stored as png files
+  ├ videos_dir: path to where the mp4 videos or png images are stored/accessed
+  └ camera_keys: List of string: the keys to access camera features in the item returned by the dataset (e.g. `["observation.images.cam_high", ...]`)
+```
+
+A `LeRobotDataset` is serialised using several widespread file formats for each of its parts, namely:
+- hf_dataset stored using Hugging Face datasets library serialization to parquet
+- videos are stored in mp4 format to save space or png files
+- episode_data_index saved using `safetensor` tensor serializtion format
+- stats saved using `safetensor` tensor serializtion format
+- info are saved using JSON
+
+Dataset can uploaded/downloaded from the HuggingFace hub seamlessly. To work on a local dataset, you can set the `DATA_DIR` environment variable to you root dataset folder as illustrated in the above section on dataset visualization.
+
 ### Evaluate a pretrained policy

 Check out [example 2](./examples/2_evaluate_pretrained_policy.py) that illustrates how to download a pretrained policy from Hugging Face hub, and run an evaluation on its corresponding environment.
--- a/examples/real_robot_example/README.md
+++ b/examples/real_robot_example/README.md
@@ -0,0 +1,89 @@
+# Using `lerobot`  on a real world arm
+
+
+In this example, we'll be using `lerobot` on a real world arm to:
+- record a dataset in the `lerobot` format
+- (soon) train a policy on it
+- (soon) run the policy in the real-world
+
+## Which robotic arm to use
+
+In this example we're using the [open-source low-cost arm from Alexander Koch](https://github.com/AlexanderKoch-Koch/low_cost_robot) in the specific setup of:
+- having 6 servos per arm, i.e. using the elbow-to-wrist extension
+- adding two cameras around it, one on top and one in the front
+- having a teleoperation arm as well (build the leader and the follower arms in A. Koch repo, both with elbow-to-wrist extensions)
+
+I'm using these cameras (but the setup should not be sensitive to the exact cameras you're using):
+- C922 Pro Stream Webcam
+- Intel(R) RealSense D455 (using only the RGB input)
+
+
+In general, this example should be very easily extendable to any type of arm using Dynamixel servos with at least one camera by changing a couple of configuration in the gym env.
+
+## Install the example
+
+Follow these steps:
+- install `lerobot`
+- install the Dynamixel-sdk: ` pip install dynamixel-sdk`
+
+## Usage
+
+### 0 - record examples
+
+Run the `record_training_data.py` example, selecting the duration and number of episodes you want to record, e.g.
+```
+DATA_DIR='./data' python record_training_data.py \
+--repo-id=thomwolf/blue_red_sort \
+--num-episodes=50 \
+--num-frames=400
+```
+
+TODO:
+- various length episodes
+- being able to drop episodes
+- checking uploading to the hub
+
+### 1 - visualize the dataset
+
+Use the standard dataset visualization script pointing it to the right folder:
+```
+DATA_DIR='./data' python ../../lerobot/scripts/visualize_dataset.py \
+    --repo-id thomwolf/blue_red_sort \
+    --episode-index 0
+```
+
+### 2 - Train a policy
+
+From the example directory let's run this command to train a model using ACT
+
+```
+DATA_DIR='./data' python ../../lerobot/scripts/train.py \
+    device=cuda \
+    hydra.searchpath=[file://./train_config/] \
+    hydra.run.dir=./outputs/train/blue_red_sort \
+    dataset_repo_id=thomwolf/blue_red_sort \
+    env=gym_real_world \
+    policy=act_real_world \
+    wandb.enable=false
+```
+
+### 3 - Evaluate the policy in the real world
+
+From the example directory let's run this command to evaluate our policy.
+The configuration for running the policy is in the checkpoint of the model.
+You can override parameters as follow:
+
+```
+python run_policy.py \
+    -p ./outputs/train/blue_red_sort/checkpoints/last/pretrained_model/
+    env.episode_length=1000
+```
+
+
+## Convert a hdf5 dataset recorded with the original ACT repo
+
+You can convert a dataset from the raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act with the following command:
+
+```
+python ./lerobot/scripts/push_dataset_to_hub.py
+```
--- a/examples/real_robot_example/convert_original_act_checkpoint.ipynb
+++ b/examples/real_robot_example/convert_original_act_checkpoint.ipynb
@@ -0,0 +1,840 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 48,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import torch\n",
+    "from safetensors.torch import load_file, save_file\n",
+    "from pprint import pprint"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 52,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "original_ckpt_path = \"/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort/policy_last.ckpt\"\n",
+    "converted_ckpt_path = \"/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort/model.safetensors\"\n",
+    "\n",
+    "comparison_main_path = \"/home/thomwolf/Documents/Github/lerobot/examples/real_robot_example/outputs/train/blue_red_debug_no_masking/checkpoints/last/pretrained_model/\"\n",
+    "comparison_safetensor_path = comparison_main_path + \"model.safetensors\"\n",
+    "comparison_config_json_path = comparison_main_path + \"config.json\"\n",
+    "comparison_config_yaml_path = comparison_main_path + \"config.yaml\""
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 28,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "a = torch.load(original_ckpt_path)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "b = load_file(comparison_safetensor_path)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
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+      " 'model.vae_encoder.layers.1.norm1.weight',\n",
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+      " 'model.vae_encoder.layers.1.norm2.weight',\n",
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+      " 'model.vae_encoder.layers.3.linear1.bias',\n",
+      " 'model.vae_encoder.layers.3.linear1.weight',\n",
+      " 'model.vae_encoder.layers.3.linear2.bias',\n",
+      " 'model.vae_encoder.layers.3.linear2.weight',\n",
+      " 'model.vae_encoder.layers.3.norm1.bias',\n",
+      " 'model.vae_encoder.layers.3.norm1.weight',\n",
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+      " 'model.vae_encoder.layers.3.self_attn.out_proj.bias',\n",
+      " 'model.vae_encoder.layers.3.self_attn.out_proj.weight',\n",
+      " 'model.vae_encoder_action_input_proj.bias',\n",
+      " 'model.vae_encoder_action_input_proj.weight',\n",
+      " 'model.vae_encoder_cls_embed.weight',\n",
+      " 'model.vae_encoder_latent_output_proj.bias',\n",
+      " 'model.vae_encoder_latent_output_proj.weight',\n",
+      " 'model.vae_encoder_pos_enc',\n",
+      " 'model.vae_encoder_robot_state_input_proj.bias',\n",
+      " 'model.vae_encoder_robot_state_input_proj.weight',\n",
+      " 'normalize_inputs.buffer_observation_images_front.mean',\n",
+      " 'normalize_inputs.buffer_observation_images_front.std',\n",
+      " 'normalize_inputs.buffer_observation_images_top.mean',\n",
+      " 'normalize_inputs.buffer_observation_images_top.std',\n",
+      " 'normalize_inputs.buffer_observation_state.mean',\n",
+      " 'normalize_inputs.buffer_observation_state.std',\n",
+      " 'normalize_targets.buffer_action.mean',\n",
+      " 'normalize_targets.buffer_action.std',\n",
+      " 'unnormalize_outputs.buffer_action.mean',\n",
+      " 'unnormalize_outputs.buffer_action.std']\n"
+     ]
+    }
+   ],
+   "source": [
+    "dest = list(b.keys())\n",
+    "pprint(dest)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 29,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
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+      " 'model.backbones.0.0.body.layer1.1.conv2.weight',\n",
+      " 'model.backbones.0.0.body.layer1.1.bn2.weight',\n",
+      " 'model.backbones.0.0.body.layer1.1.bn2.bias',\n",
+      " 'model.backbones.0.0.body.layer1.1.bn2.running_mean',\n",
+      " 'model.backbones.0.0.body.layer1.1.bn2.running_var',\n",
+      " 'model.backbones.0.0.body.layer1.1.bn2.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer2.0.conv1.weight',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn1.weight',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn1.bias',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn1.running_var',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer2.0.conv2.weight',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn2.weight',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn2.bias',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn2.running_mean',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn2.running_var',\n",
+      " 'model.backbones.0.0.body.layer2.0.bn2.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer2.0.downsample.0.weight',\n",
+      " 'model.backbones.0.0.body.layer2.0.downsample.1.weight',\n",
+      " 'model.backbones.0.0.body.layer2.0.downsample.1.bias',\n",
+      " 'model.backbones.0.0.body.layer2.0.downsample.1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer2.0.downsample.1.running_var',\n",
+      " 'model.backbones.0.0.body.layer2.0.downsample.1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer2.1.conv1.weight',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn1.weight',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn1.bias',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn1.running_var',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer2.1.conv2.weight',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn2.weight',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn2.bias',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn2.running_mean',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn2.running_var',\n",
+      " 'model.backbones.0.0.body.layer2.1.bn2.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer3.0.conv1.weight',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn1.weight',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn1.bias',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn1.running_var',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer3.0.conv2.weight',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn2.weight',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn2.bias',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn2.running_mean',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn2.running_var',\n",
+      " 'model.backbones.0.0.body.layer3.0.bn2.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer3.0.downsample.0.weight',\n",
+      " 'model.backbones.0.0.body.layer3.0.downsample.1.weight',\n",
+      " 'model.backbones.0.0.body.layer3.0.downsample.1.bias',\n",
+      " 'model.backbones.0.0.body.layer3.0.downsample.1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer3.0.downsample.1.running_var',\n",
+      " 'model.backbones.0.0.body.layer3.0.downsample.1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer3.1.conv1.weight',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn1.weight',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn1.bias',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn1.running_var',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer3.1.conv2.weight',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn2.weight',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn2.bias',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn2.running_mean',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn2.running_var',\n",
+      " 'model.backbones.0.0.body.layer3.1.bn2.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer4.0.conv1.weight',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn1.weight',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn1.bias',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn1.running_var',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer4.0.conv2.weight',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn2.weight',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn2.bias',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn2.running_mean',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn2.running_var',\n",
+      " 'model.backbones.0.0.body.layer4.0.bn2.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer4.0.downsample.0.weight',\n",
+      " 'model.backbones.0.0.body.layer4.0.downsample.1.weight',\n",
+      " 'model.backbones.0.0.body.layer4.0.downsample.1.bias',\n",
+      " 'model.backbones.0.0.body.layer4.0.downsample.1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer4.0.downsample.1.running_var',\n",
+      " 'model.backbones.0.0.body.layer4.0.downsample.1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer4.1.conv1.weight',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn1.weight',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn1.bias',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn1.running_mean',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn1.running_var',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn1.num_batches_tracked',\n",
+      " 'model.backbones.0.0.body.layer4.1.conv2.weight',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn2.weight',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn2.bias',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn2.running_mean',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn2.running_var',\n",
+      " 'model.backbones.0.0.body.layer4.1.bn2.num_batches_tracked',\n",
+      " 'model.input_proj_robot_state.weight',\n",
+      " 'model.input_proj_robot_state.bias',\n",
+      " 'model.cls_embed.weight',\n",
+      " 'model.encoder_action_proj.weight',\n",
+      " 'model.encoder_action_proj.bias',\n",
+      " 'model.encoder_joint_proj.weight',\n",
+      " 'model.encoder_joint_proj.bias',\n",
+      " 'model.latent_proj.weight',\n",
+      " 'model.latent_proj.bias',\n",
+      " 'model.latent_out_proj.weight',\n",
+      " 'model.latent_out_proj.bias',\n",
+      " 'model.additional_pos_embed.weight']\n"
+     ]
+    }
+   ],
+   "source": [
+    "orig = list(a.keys())\n",
+    "pprint(orig)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 45,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "a = torch.load(original_ckpt_path)\n",
+    "\n",
+    "to_remove_startswith = ['model.transformer.decoder.layers.1.',\n",
+    "             'model.transformer.decoder.layers.2.',\n",
+    "             'model.transformer.decoder.layers.3.',\n",
+    "             'model.transformer.decoder.layers.4.',\n",
+    "             'model.transformer.decoder.layers.5.',\n",
+    "             'model.transformer.decoder.layers.6.',\n",
+    "             'model.transformer.decoder.norm.',\n",
+    "             'model.is_pad_head']\n",
+    "\n",
+    "to_remove_in = ['num_batches_tracked',]\n",
+    "\n",
+    "conv = {}\n",
+    "\n",
+    "keys = list(a.keys())\n",
+    "for k in keys:\n",
+    "    if any(k.startswith(tr) for tr in to_remove_startswith):\n",
+    "        a.pop(k)\n",
+    "        continue\n",
+    "    if any(tr in k for tr in to_remove_in):\n",
+    "        a.pop(k)\n",
+    "        continue\n",
+    "    if k.startswith('model.transformer.encoder.layers.'):\n",
+    "        conv[k.replace('transformer.', '')] = a.pop(k)\n",
+    "    if k.startswith('model.transformer.decoder.layers.0.'):\n",
+    "        conv[k.replace('transformer.', '')] = a.pop(k)\n",
+    "    if k.startswith('model.encoder.layers.'):\n",
+    "        conv[k.replace('encoder.', 'vae_encoder.')] = a.pop(k)\n",
+    "    if k.startswith('model.action_head.'):\n",
+    "        conv[k] = a.pop(k)\n",
+    "    if k.startswith('model.pos_table'):\n",
+    "        conv[k.replace('pos_table', 'vae_encoder_pos_enc')] = a.pop(k)\n",
+    "    if k.startswith('model.query_embed.'):\n",
+    "        conv[k.replace('query_embed', 'decoder_pos_embed')] = a.pop(k)\n",
+    "    if k.startswith('model.input_proj.'):\n",
+    "        conv[k.replace('input_proj.', 'encoder_img_feat_input_proj.')] = a.pop(k)\n",
+    "    if k.startswith('model.input_proj_robot_state.'):\n",
+    "        conv[k.replace('input_proj_robot_state.', 'encoder_robot_state_input_proj.')] = a.pop(k)\n",
+    "    if k.startswith('model.backbones.0.0.body.'):\n",
+    "        conv[k.replace('backbones.0.0.body', 'backbone')] = a.pop(k)\n",
+    "    if k.startswith('model.cls_embed.'):\n",
+    "        conv[k.replace('cls_embed', 'vae_encoder_cls_embed')] = a.pop(k)\n",
+    "    if k.startswith('model.encoder_action_proj.'):\n",
+    "        conv[k.replace('encoder_action_proj', 'vae_encoder_action_input_proj')] = a.pop(k)\n",
+    "    if k.startswith('model.encoder_joint_proj.'):\n",
+    "        conv[k.replace('encoder_joint_proj', 'vae_encoder_robot_state_input_proj')] = a.pop(k)\n",
+    "    if k.startswith('model.latent_proj.'):\n",
+    "        conv[k.replace('latent_proj', 'vae_encoder_latent_output_proj')] = a.pop(k)\n",
+    "    if k.startswith('model.latent_out_proj.'):\n",
+    "        conv[k.replace('latent_out_proj', 'encoder_latent_input_proj')] = a.pop(k)\n",
+    "    if k.startswith('model.additional_pos_embed.'):\n",
+    "        conv[k.replace('additional_pos_embed', 'encoder_robot_and_latent_pos_embed')] = a.pop(k)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 46,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "OrderedDict()"
+      ]
+     },
+     "execution_count": 46,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "a"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 47,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for k, v in conv.items():\n",
+    "    assert b[k].shape == v.shape\n",
+    "    b[k] = v"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 53,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "save_file(b, converted_ckpt_path)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 54,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort/config.yaml'"
+      ]
+     },
+     "execution_count": 54,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "# Now also copy the config files\n",
+    "import shutil\n",
+    "shutil.copy(comparison_config_json_path, converted_ckpt_path.replace('model.safetensors', 'config.json'))\n",
+    "shutil.copy(comparison_config_yaml_path, converted_ckpt_path.replace('model.safetensors', 'config.yaml'))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "lerobot",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.14"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
--- a/examples/real_robot_example/gym_real_world/init.py
+++ b/examples/real_robot_example/gym_real_world/init.py
@@ -0,0 +1,8 @@
+from gymnasium.envs.registration import register
+
+register(
+    id="gym_real_world/RealEnv-v0",
+    entry_point="gym_real_world.gym_environment:RealEnv",
+    max_episode_steps=300,
+    nondeterministic=True,
+)
--- a/examples/real_robot_example/gym_real_world/dynamixel.py
+++ b/examples/real_robot_example/gym_real_world/dynamixel.py
@@ -0,0 +1,363 @@
+# ruff: noqa
+"""From Alexander Koch low_cost_robot codebase at https://github.com/AlexanderKoch-Koch/low_cost_robot
+Dynamixel class to control the dynamixel servos
+"""
+
+from __future__ import annotations
+
+import enum
+import math
+import os
+from dataclasses import dataclass
+
+import numpy as np
+from dynamixel_sdk import *  # Uses Dynamixel SDK library
+
+
+def pos2pwm(pos: np.ndarray) -> np.ndarray:
+    """
+    :param pos: numpy array of joint positions in range [-pi, pi]
+    :return: numpy array of pwm values in range [0, 4096]
+    """
+    return ((pos / 3.14 + 1.0) * 2048).astype(np.int64)
+
+
+def pwm2pos(pwm: np.ndarray) -> np.ndarray:
+    """
+    :param pwm: numpy array of pwm values in range [0, 4096]
+    :return: numpy array of joint positions in range [-pi, pi]
+    """
+    return (pwm / 2048 - 1) * 3.14
+
+
+def pwm2vel(pwm: np.ndarray) -> np.ndarray:
+    """
+    :param pwm: numpy array of pwm/s joint velocities
+    :return: numpy array of rad/s joint velocities
+    """
+    return pwm * 3.14 / 2048
+
+
+def vel2pwm(vel: np.ndarray) -> np.ndarray:
+    """
+    :param vel: numpy array of rad/s joint velocities
+    :return: numpy array of pwm/s joint velocities
+    """
+    return (vel * 2048 / 3.14).astype(np.int64)
+
+
+class ReadAttribute(enum.Enum):
+    TEMPERATURE = 146
+    VOLTAGE = 145
+    VELOCITY = 128
+    POSITION = 132
+    CURRENT = 126
+    PWM = 124
+    HARDWARE_ERROR_STATUS = 70
+    HOMING_OFFSET = 20
+    BAUDRATE = 8
+
+
+class OperatingMode(enum.Enum):
+    VELOCITY = 1
+    POSITION = 3
+    CURRENT_CONTROLLED_POSITION = 5
+    PWM = 16
+    UNKNOWN = -1
+
+
+class Dynamixel:
+    ADDR_TORQUE_ENABLE = 64
+    ADDR_GOAL_POSITION = 116
+    ADDR_VELOCITY_LIMIT = 44
+    ADDR_GOAL_PWM = 100
+    OPERATING_MODE_ADDR = 11
+    POSITION_I = 82
+    POSITION_P = 84
+    ADDR_ID = 7
+
+    @dataclass
+    class Config:
+        def instantiate(self):
+            return Dynamixel(self)
+
+        baudrate: int = 57600
+        protocol_version: float = 2.0
+        device_name: str = ""  # /dev/tty.usbserial-1120'
+        dynamixel_id: int = 1
+
+    def __init__(self, config: Config):
+        self.config = config
+        self.connect()
+
+    def connect(self):
+        if self.config.device_name == "":
+            for port_name in os.listdir("/dev"):
+                if "ttyUSB" in port_name or "ttyACM" in port_name:
+                    self.config.device_name = "/dev/" + port_name
+                    print(f"using device {self.config.device_name}")
+        self.portHandler = PortHandler(self.config.device_name)
+        # self.portHandler.LA
+        self.packetHandler = PacketHandler(self.config.protocol_version)
+        if not self.portHandler.openPort():
+            raise Exception(f"Failed to open port {self.config.device_name}")
+
+        if not self.portHandler.setBaudRate(self.config.baudrate):
+            raise Exception(f"failed to set baudrate to {self.config.baudrate}")
+
+        # self.operating_mode = OperatingMode.UNKNOWN
+        # self.torque_enabled = False
+        # self._disable_torque()
+
+        self.operating_modes = [None for _ in range(32)]
+        self.torque_enabled = [None for _ in range(32)]
+        return True
+
+    def disconnect(self):
+        self.portHandler.closePort()
+
+    def set_goal_position(self, motor_id, goal_position):
+        # if self.operating_modes[motor_id] is not OperatingMode.POSITION:
+        #     self._disable_torque(motor_id)
+        #     self.set_operating_mode(motor_id, OperatingMode.POSITION)
+
+        # if not self.torque_enabled[motor_id]:
+        #     self._enable_torque(motor_id)
+
+        # self._enable_torque(motor_id)
+        dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_GOAL_POSITION, goal_position
+        )
+        # self._process_response(dxl_comm_result, dxl_error)
+        # print(f'set position of motor {motor_id} to {goal_position}')
+
+    def set_pwm_value(self, motor_id: int, pwm_value, tries=3):
+        if self.operating_modes[motor_id] is not OperatingMode.PWM:
+            self._disable_torque(motor_id)
+            self.set_operating_mode(motor_id, OperatingMode.PWM)
+
+        if not self.torque_enabled[motor_id]:
+            self._enable_torque(motor_id)
+            # print(f'enabling torque')
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_GOAL_PWM, pwm_value
+        )
+        # self._process_response(dxl_comm_result, dxl_error)
+        # print(f'set pwm of motor {motor_id} to {pwm_value}')
+        if dxl_comm_result != COMM_SUCCESS:
+            if tries <= 1:
+                raise ConnectionError(f"dxl_comm_result: {self.packetHandler.getTxRxResult(dxl_comm_result)}")
+            else:
+                print(f"dynamixel pwm setting failure trying again with {tries - 1} tries")
+                self.set_pwm_value(motor_id, pwm_value, tries=tries - 1)
+        elif dxl_error != 0:
+            print(f"dxl error {dxl_error}")
+            raise ConnectionError(f"dynamixel error: {self.packetHandler.getTxRxResult(dxl_error)}")
+
+    def read_temperature(self, motor_id: int):
+        return self._read_value(motor_id, ReadAttribute.TEMPERATURE, 1)
+
+    def read_velocity(self, motor_id: int):
+        pos = self._read_value(motor_id, ReadAttribute.VELOCITY, 4)
+        if pos > 2**31:
+            pos -= 2**32
+        # print(f'read position {pos} for motor {motor_id}')
+        return pos
+
+    def read_position(self, motor_id: int):
+        pos = self._read_value(motor_id, ReadAttribute.POSITION, 4)
+        if pos > 2**31:
+            pos -= 2**32
+        # print(f'read position {pos} for motor {motor_id}')
+        return pos
+
+    def read_position_degrees(self, motor_id: int) -> float:
+        return (self.read_position(motor_id) / 4096) * 360
+
+    def read_position_radians(self, motor_id: int) -> float:
+        return (self.read_position(motor_id) / 4096) * 2 * math.pi
+
+    def read_current(self, motor_id: int):
+        current = self._read_value(motor_id, ReadAttribute.CURRENT, 2)
+        if current > 2**15:
+            current -= 2**16
+        return current
+
+    def read_present_pwm(self, motor_id: int):
+        return self._read_value(motor_id, ReadAttribute.PWM, 2)
+
+    def read_hardware_error_status(self, motor_id: int):
+        return self._read_value(motor_id, ReadAttribute.HARDWARE_ERROR_STATUS, 1)
+
+    def disconnect(self):
+        self.portHandler.closePort()
+
+    def set_id(self, old_id, new_id, use_broadcast_id: bool = False):
+        """
+        sets the id of the dynamixel servo
+        @param old_id: current id of the servo
+        @param new_id: new id
+        @param use_broadcast_id: set ids of all connected dynamixels if True.
+         If False, change only servo with self.config.id
+        @return:
+        """
+        if use_broadcast_id:
+            current_id = 254
+        else:
+            current_id = old_id
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, current_id, self.ADDR_ID, new_id
+        )
+        self._process_response(dxl_comm_result, dxl_error, old_id)
+        self.config.id = id
+
+    def _enable_torque(self, motor_id):
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_TORQUE_ENABLE, 1
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self.torque_enabled[motor_id] = True
+
+    def _disable_torque(self, motor_id):
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_TORQUE_ENABLE, 0
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self.torque_enabled[motor_id] = False
+
+    def _process_response(self, dxl_comm_result: int, dxl_error: int, motor_id: int):
+        if dxl_comm_result != COMM_SUCCESS:
+            raise ConnectionError(
+                f"dxl_comm_result for motor {motor_id}: {self.packetHandler.getTxRxResult(dxl_comm_result)}"
+            )
+        elif dxl_error != 0:
+            print(f"dxl error {dxl_error}")
+            raise ConnectionError(
+                f"dynamixel error for motor {motor_id}: {self.packetHandler.getTxRxResult(dxl_error)}"
+            )
+
+    def set_operating_mode(self, motor_id: int, operating_mode: OperatingMode):
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.OPERATING_MODE_ADDR, operating_mode.value
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self.operating_modes[motor_id] = operating_mode
+
+    def set_pwm_limit(self, motor_id: int, limit: int):
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(self.portHandler, motor_id, 36, limit)
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def set_velocity_limit(self, motor_id: int, velocity_limit):
+        dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(
+            self.portHandler, motor_id, self.ADDR_VELOCITY_LIMIT, velocity_limit
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def set_P(self, motor_id: int, P: int):
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.POSITION_P, P
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def set_I(self, motor_id: int, I: int):
+        dxl_comm_result, dxl_error = self.packetHandler.write2ByteTxRx(
+            self.portHandler, motor_id, self.POSITION_I, I
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def read_home_offset(self, motor_id: int):
+        self._disable_torque(motor_id)
+        # dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(self.portHandler, motor_id,
+        #                                                                ReadAttribute.HOMING_OFFSET.value, home_position)
+        home_offset = self._read_value(motor_id, ReadAttribute.HOMING_OFFSET, 4)
+        # self._process_response(dxl_comm_result, dxl_error)
+        self._enable_torque(motor_id)
+        return home_offset
+
+    def set_home_offset(self, motor_id: int, home_position: int):
+        self._disable_torque(motor_id)
+        dxl_comm_result, dxl_error = self.packetHandler.write4ByteTxRx(
+            self.portHandler, motor_id, ReadAttribute.HOMING_OFFSET.value, home_position
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+        self._enable_torque(motor_id)
+
+    def set_baudrate(self, motor_id: int, baudrate):
+        # translate baudrate into dynamixel baudrate setting id
+        if baudrate == 57600:
+            baudrate_id = 1
+        elif baudrate == 1_000_000:
+            baudrate_id = 3
+        elif baudrate == 2_000_000:
+            baudrate_id = 4
+        elif baudrate == 3_000_000:
+            baudrate_id = 5
+        elif baudrate == 4_000_000:
+            baudrate_id = 6
+        else:
+            raise Exception("baudrate not implemented")
+
+        self._disable_torque(motor_id)
+        dxl_comm_result, dxl_error = self.packetHandler.write1ByteTxRx(
+            self.portHandler, motor_id, ReadAttribute.BAUDRATE.value, baudrate_id
+        )
+        self._process_response(dxl_comm_result, dxl_error, motor_id)
+
+    def _read_value(self, motor_id, attribute: ReadAttribute, num_bytes: int, tries=10):
+        try:
+            if num_bytes == 1:
+                value, dxl_comm_result, dxl_error = self.packetHandler.read1ByteTxRx(
+                    self.portHandler, motor_id, attribute.value
+                )
+            elif num_bytes == 2:
+                value, dxl_comm_result, dxl_error = self.packetHandler.read2ByteTxRx(
+                    self.portHandler, motor_id, attribute.value
+                )
+            elif num_bytes == 4:
+                value, dxl_comm_result, dxl_error = self.packetHandler.read4ByteTxRx(
+                    self.portHandler, motor_id, attribute.value
+                )
+        except Exception:
+            if tries == 0:
+                raise Exception
+            else:
+                return self._read_value(motor_id, attribute, num_bytes, tries=tries - 1)
+        if dxl_comm_result != COMM_SUCCESS:
+            if tries <= 1:
+                # print("%s" % self.packetHandler.getTxRxResult(dxl_comm_result))
+                raise ConnectionError(f"dxl_comm_result {dxl_comm_result} for servo {motor_id} value {value}")
+            else:
+                print(f"dynamixel read failure for servo {motor_id} trying again with {tries - 1} tries")
+                time.sleep(0.02)
+                return self._read_value(motor_id, attribute, num_bytes, tries=tries - 1)
+        elif dxl_error != 0:  # # print("%s" % self.packetHandler.getRxPacketError(dxl_error))
+            # raise ConnectionError(f'dxl_error {dxl_error} binary ' + "{0:b}".format(37))
+            if tries == 0 and dxl_error != 128:
+                raise Exception(f"Failed to read value from motor {motor_id} error is {dxl_error}")
+            else:
+                return self._read_value(motor_id, attribute, num_bytes, tries=tries - 1)
+        return value
+
+    def set_home_position(self, motor_id: int):
+        print(f"setting home position for motor {motor_id}")
+        self.set_home_offset(motor_id, 0)
+        current_position = self.read_position(motor_id)
+        print(f"position before {current_position}")
+        self.set_home_offset(motor_id, -current_position)
+        # dynamixel.set_home_offset(motor_id, -4096)
+        # dynamixel.set_home_offset(motor_id, -4294964109)
+        current_position = self.read_position(motor_id)
+        # print(f'signed position {current_position - 2** 32}')
+        print(f"position after {current_position}")
+
+
+if __name__ == "__main__":
+    dynamixel = Dynamixel.Config(baudrate=1_000_000, device_name="/dev/tty.usbmodem57380045631").instantiate()
+    motor_id = 1
+    pos = dynamixel.read_position(motor_id)
+    for i in range(10):
+        s = time.monotonic()
+        pos = dynamixel.read_position(motor_id)
+        delta = time.monotonic() - s
+        print(f"read position took {delta}")
+        print(f"position {pos}")
--- a/examples/real_robot_example/gym_real_world/gym_environment.py
+++ b/examples/real_robot_example/gym_real_world/gym_environment.py
@@ -0,0 +1,192 @@
+import time
+from unittest.mock import MagicMock
+
+import cv2
+import gymnasium as gym
+import numpy as np
+from gymnasium import spaces
+
+from .dynamixel import pos2pwm, pwm2pos
+from .robot import Robot
+
+FPS = 30
+
+CAMERAS_SHAPES = {
+    "images.high": (480, 640, 3),
+    "images.low": (480, 640, 3),
+}
+
+CAMERAS_PORTS = {
+    "images.high": "/dev/video6",
+    "images.low": "/dev/video0",
+}
+
+LEADER_PORT = "/dev/ttyACM1"
+FOLLOWER_PORT = "/dev/ttyACM0"
+
+MockRobot = MagicMock()
+MockRobot.read_position = MagicMock()
+MockRobot.read_position.return_value = np.array([0.0, 1.0, 2.0, 3.0, 4.0, 5.0])
+
+MockCamera = MagicMock()
+MockCamera.isOpened = MagicMock(return_value=True)
+MockCamera.read = MagicMock(return_value=(True, np.zeros((480, 640, 3), dtype=np.uint8)))
+
+
+def capture_image(cam, cam_width, cam_height):
+    # Capture a single frame
+    _, frame = cam.read()
+    image = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+    # # Define your crop coordinates (top left corner and bottom right corner)
+    # x1, y1 = 400, 0  # Example starting coordinates (top left of the crop rectangle)
+    # x2, y2 = 1600, 900  # Example ending coordinates (bottom right of the crop rectangle)
+    # # Crop the image
+    # image = image[y1:y2, x1:x2]
+    # Resize the image
+    image = cv2.resize(image, (cam_width, cam_height), interpolation=cv2.INTER_AREA)
+
+    return image
+
+
+class RealEnv(gym.Env):
+    metadata = {}
+
+    def __init__(
+        self,
+        record: bool = False,
+        num_joints: int = 6,
+        cameras_shapes: dict = CAMERAS_SHAPES,
+        cameras_ports: dict = CAMERAS_PORTS,
+        follower_port: str = FOLLOWER_PORT,
+        leader_port: str = LEADER_PORT,
+        warmup_steps: int = 100,
+        trigger_torque=70,
+        fps: int = FPS,
+        fps_tolerance: float = 0.1,
+        mock: bool = False,
+    ):
+        self.num_joints = num_joints
+        self.cameras_shapes = cameras_shapes
+        self.cameras_ports = cameras_ports
+        self.warmup_steps = warmup_steps
+        assert len(self.cameras_shapes) == len(self.cameras_ports), "Number of cameras and shapes must match."
+
+        self.follower_port = follower_port
+        self.leader_port = leader_port
+        self.record = record
+        self.fps = fps
+        self.fps_tolerance = fps_tolerance
+
+        # Initialize the robot
+        self.follower = Robot(device_name=self.follower_port) if not mock else MockRobot
+        if self.record:
+            self.leader = Robot(device_name=self.leader_port) if not mock else MockRobot
+            self.leader.set_trigger_torque(trigger_torque)
+
+        # Initialize the cameras - sorted by camera names
+        self.cameras = {}
+        for cn, p in sorted(self.cameras_ports.items()):
+            self.cameras[cn] = cv2.VideoCapture(p) if not mock else MockCamera
+            if not self.cameras[cn].isOpened():
+                raise OSError(
+                    f"Cannot open camera port {p} for {cn}."
+                    f" Make sure the camera is connected and the port is correct."
+                    f"Also check you are not spinning several instances of the same environment (eval.batch_size)"
+                )
+
+        # Specify gym action and observation spaces
+        observation_space = {}
+
+        if self.num_joints > 0:
+            observation_space["agent_pos"] = spaces.Box(
+                low=-1000.0,
+                high=1000.0,
+                shape=(num_joints,),
+                dtype=np.float64,
+            )
+        if self.record:
+            observation_space["leader_pos"] = spaces.Box(
+                low=-1000.0,
+                high=1000.0,
+                shape=(num_joints,),
+                dtype=np.float64,
+            )
+
+        if self.cameras_shapes:
+            for cn, hwc_shape in self.cameras_shapes.items():
+                # Assumes images are unsigned int8 in [0,255]
+                observation_space[cn] = spaces.Box(
+                    low=0,
+                    high=255,
+                    # height x width x channels (e.g. 480 x 640 x 3)
+                    shape=hwc_shape,
+                    dtype=np.uint8,
+                )
+
+        self.observation_space = spaces.Dict(observation_space)
+        self.action_space = spaces.Box(low=-1, high=1, shape=(num_joints,), dtype=np.float32)
+
+        self._observation = {}
+        self._terminated = False
+        self.timestamps = []
+
+    def _get_obs(self):
+        qpos = self.follower.read_position()
+        self._observation["agent_pos"] = pwm2pos(qpos)
+        for cn, c in self.cameras.items():
+            self._observation[cn] = capture_image(c, self.cameras_shapes[cn][1], self.cameras_shapes[cn][0])
+
+        if self.record:
+            action = self.leader.read_position()
+            self._observation["leader_pos"] = pwm2pos(action)
+
+    def reset(self, seed: int | None = None):
+        # Reset the robot and sync the leader and follower if we are recording
+        for _ in range(self.warmup_steps):
+            self._get_obs()
+            if self.record:
+                self.follower.set_goal_pos(pos2pwm(self._observation["leader_pos"]))
+        self._terminated = False
+        info = {}
+        self.timestamps = []
+        return self._observation, info
+
+    def step(self, action: np.ndarray = None):
+        if self.timestamps:
+            # wait the right amount of time to stay at the desired fps
+            time.sleep(max(0, 1 / self.fps - (time.time() - self.timestamps[-1])))
+
+        self.timestamps.append(time.time())
+
+        # Get the observation
+        self._get_obs()
+        if self.record:
+            # Teleoperate the leader
+            self.follower.set_goal_pos(pos2pwm(self._observation["leader_pos"]))
+        else:
+            # Apply the action to the follower
+            self.follower.set_goal_pos(pos2pwm(action))
+
+        reward = 0
+        terminated = truncated = self._terminated
+        info = {"timestamp": self.timestamps[-1] - self.timestamps[0], "fps_error": False}
+
+        # Check if we are able to keep up with the desired fps
+        if len(self.timestamps) > 1 and (self.timestamps[-1] - self.timestamps[-2]) > 1 / (
+            self.fps - self.fps_tolerance
+        ):
+            print(
+                f"Error: recording fps {1 / (self.timestamps[-1] - self.timestamps[-2]):.5f} is lower"
+                f" than min admited fps {(self.fps - self.fps_tolerance):.5f}"
+                f" at frame {len(self.timestamps)}"
+            )
+            info["fps_error"] = True
+
+        return self._observation, reward, terminated, truncated, info
+
+    def render(self): ...
+
+    def close(self):
+        self.follower._disable_torque()
+        if self.record:
+            self.leader._disable_torque()
--- a/examples/real_robot_example/gym_real_world/robot.py
+++ b/examples/real_robot_example/gym_real_world/robot.py
@@ -0,0 +1,168 @@
+# ruff: noqa
+"""From Alexander Koch low_cost_robot codebase at https://github.com/AlexanderKoch-Koch/low_cost_robot
+Class to control the robot using dynamixel servos.
+"""
+
+from enum import Enum, auto
+from typing import Union
+
+import numpy as np
+from dynamixel_sdk import DXL_HIBYTE, DXL_HIWORD, DXL_LOBYTE, DXL_LOWORD, GroupSyncRead, GroupSyncWrite
+
+from .dynamixel import Dynamixel, OperatingMode, ReadAttribute
+
+
+class MotorControlType(Enum):
+    PWM = auto()
+    POSITION_CONTROL = auto()
+    DISABLED = auto()
+    UNKNOWN = auto()
+
+
+class Robot:
+    def __init__(self, device_name: str, baudrate=1_000_000, servo_ids=[1, 2, 3, 4, 5, 6]) -> None:
+        self.servo_ids = servo_ids
+        self.dynamixel = Dynamixel.Config(baudrate=baudrate, device_name=device_name).instantiate()
+        self._init_motors()
+
+    def _init_motors(self):
+        self.position_reader = GroupSyncRead(
+            self.dynamixel.portHandler, self.dynamixel.packetHandler, ReadAttribute.POSITION.value, 4
+        )
+        for id in self.servo_ids:
+            self.position_reader.addParam(id)
+
+        self.velocity_reader = GroupSyncRead(
+            self.dynamixel.portHandler, self.dynamixel.packetHandler, ReadAttribute.VELOCITY.value, 4
+        )
+        for id in self.servo_ids:
+            self.velocity_reader.addParam(id)
+
+        self.pos_writer = GroupSyncWrite(
+            self.dynamixel.portHandler, self.dynamixel.packetHandler, self.dynamixel.ADDR_GOAL_POSITION, 4
+        )
+        for id in self.servo_ids:
+            self.pos_writer.addParam(id, [2048])
+
+        self.pwm_writer = GroupSyncWrite(
+            self.dynamixel.portHandler, self.dynamixel.packetHandler, self.dynamixel.ADDR_GOAL_PWM, 2
+        )
+        for id in self.servo_ids:
+            self.pwm_writer.addParam(id, [2048])
+        self._disable_torque()
+        self.motor_control_state = MotorControlType.DISABLED
+
+    def read_position(self, tries=2):
+        """
+        Reads the joint positions of the robot. 2048 is the center position. 0 and 4096 are 180 degrees in each direction.
+        :param tries: maximum number of tries to read the position
+        :return: list of joint positions in range [0, 4096]
+        """
+        result = self.position_reader.txRxPacket()
+        if result != 0:
+            if tries > 0:
+                return self.read_position(tries=tries - 1)
+            else:
+                print("failed to read position!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
+        positions = []
+        for id in self.servo_ids:
+            position = self.position_reader.getData(id, ReadAttribute.POSITION.value, 4)
+            if position > 2**31:
+                position -= 2**32
+            positions.append(position)
+        return np.array(positions)
+
+    def read_velocity(self):
+        """
+        Reads the joint velocities of the robot.
+        :return: list of joint velocities,
+        """
+        self.velocity_reader.txRxPacket()
+        velocties = []
+        for id in self.servo_ids:
+            velocity = self.velocity_reader.getData(id, ReadAttribute.VELOCITY.value, 4)
+            if velocity > 2**31:
+                velocity -= 2**32
+            velocties.append(velocity)
+        return np.array(velocties)
+
+    def set_goal_pos(self, action):
+        """
+        :param action: list or numpy array of target joint positions in range [0, 4096]
+        """
+        if self.motor_control_state is not MotorControlType.POSITION_CONTROL:
+            self._set_position_control()
+        for i, motor_id in enumerate(self.servo_ids):
+            data_write = [
+                DXL_LOBYTE(DXL_LOWORD(action[i])),
+                DXL_HIBYTE(DXL_LOWORD(action[i])),
+                DXL_LOBYTE(DXL_HIWORD(action[i])),
+                DXL_HIBYTE(DXL_HIWORD(action[i])),
+            ]
+            self.pos_writer.changeParam(motor_id, data_write)
+
+        self.pos_writer.txPacket()
+
+    def set_pwm(self, action):
+        """
+        Sets the pwm values for the servos.
+        :param action: list or numpy array of pwm values in range [0, 885]
+        """
+        if self.motor_control_state is not MotorControlType.PWM:
+            self._set_pwm_control()
+        for i, motor_id in enumerate(self.servo_ids):
+            data_write = [
+                DXL_LOBYTE(DXL_LOWORD(action[i])),
+                DXL_HIBYTE(DXL_LOWORD(action[i])),
+            ]
+            self.pwm_writer.changeParam(motor_id, data_write)
+
+        self.pwm_writer.txPacket()
+
+    def set_trigger_torque(self, torque: int):
+        """
+        Sets a constant torque torque for the last servo in the chain. This is useful for the trigger of the leader arm
+        """
+        self.dynamixel._enable_torque(self.servo_ids[-1])
+        self.dynamixel.set_pwm_value(self.servo_ids[-1], torque)
+
+    def limit_pwm(self, limit: Union[int, list, np.ndarray]):
+        """
+        Limits the pwm values for the servos in for position control
+        @param limit: 0 ~ 885
+        @return:
+        """
+        if isinstance(limit, int):
+            limits = [
+                limit,
+            ] * 5
+        else:
+            limits = limit
+        self._disable_torque()
+        for motor_id, limit in zip(self.servo_ids, limits, strict=False):
+            self.dynamixel.set_pwm_limit(motor_id, limit)
+        self._enable_torque()
+
+    def _disable_torque(self):
+        print(f"disabling torque for servos {self.servo_ids}")
+        for motor_id in self.servo_ids:
+            self.dynamixel._disable_torque(motor_id)
+
+    def _enable_torque(self):
+        print(f"enabling torque for servos {self.servo_ids}")
+        for motor_id in self.servo_ids:
+            self.dynamixel._enable_torque(motor_id)
+
+    def _set_pwm_control(self):
+        self._disable_torque()
+        for motor_id in self.servo_ids:
+            self.dynamixel.set_operating_mode(motor_id, OperatingMode.PWM)
+        self._enable_torque()
+        self.motor_control_state = MotorControlType.PWM
+
+    def _set_position_control(self):
+        self._disable_torque()
+        for motor_id in self.servo_ids:
+            self.dynamixel.set_operating_mode(motor_id, OperatingMode.POSITION)
+        self._enable_torque()
+        self.motor_control_state = MotorControlType.POSITION_CONTROL
--- a/examples/real_robot_example/record_training_data.py
+++ b/examples/real_robot_example/record_training_data.py
@@ -0,0 +1,237 @@
+"""This script demonstrates how to record a LeRobot dataset of training data
+using a very simple gym environment (see in examples/real_robot_example/gym_real_world/gym_environment.py).
+
+"""
+
+import argparse
+import copy
+import os
+from pathlib import Path
+
+import gym_real_world  # noqa: F401
+import gymnasium as gym
+import numpy as np
+import torch
+from datasets import Dataset, Features, Sequence, Value
+from omegaconf import OmegaConf
+from tqdm import tqdm
+
+from lerobot.common.datasets.compute_stats import compute_stats
+from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, DATA_DIR, LeRobotDataset
+from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, save_images_concurrently
+from lerobot.common.datasets.utils import (
+    hf_transform_to_torch,
+)
+from lerobot.common.datasets.video_utils import VideoFrame, encode_video_frames
+from lerobot.scripts.push_dataset_to_hub import push_meta_data_to_hub, push_videos_to_hub, save_meta_data
+
+# parse the repo_id name via command line
+parser = argparse.ArgumentParser()
+parser.add_argument("--repo-id", type=str, default="thomwolf/blue_red_sort")
+parser.add_argument("--num-episodes", type=int, default=2)
+parser.add_argument("--num-frames", type=int, default=400)
+parser.add_argument("--num-workers", type=int, default=16)
+parser.add_argument("--keep-last", action="store_true")
+parser.add_argument("--data_dir", type=str, default=None)
+parser.add_argument("--push-to-hub", action="store_true")
+parser.add_argument("--fps", type=int, default=30, help="Frames per second of the recording.")
+parser.add_argument(
+    "--fps_tolerance",
+    type=float,
+    default=0.5,
+    help="Tolerance in fps for the recording before dropping episodes.",
+)
+parser.add_argument(
+    "--revision", type=str, default=CODEBASE_VERSION, help="Codebase version used to generate the dataset."
+)
+parser.add_argument("--gym-config", type=str, default=None, help="Path to the gym config file.")
+parser.add_argument("--mock_robot", action="store_true")
+args = parser.parse_args()
+
+repo_id = args.repo_id
+num_episodes = args.num_episodes
+num_frames = args.num_frames
+revision = args.revision
+fps = args.fps
+fps_tolerance = args.fps_tolerance
+
+out_data = DATA_DIR / repo_id if args.data_dir is None else Path(args.data_dir)
+
+# During data collection, frames are stored as png images in `images_dir`
+images_dir = out_data / "images"
+# After data collection, png images of each episode are encoded into a mp4 file stored in `videos_dir`
+videos_dir = out_data / "videos"
+meta_data_dir = out_data / "meta_data"
+
+gym_config = None
+if args.config is not None:
+    gym_config = OmegaConf.load(args.config)
+
+# Create image and video directories
+if not os.path.exists(images_dir):
+    os.makedirs(images_dir, exist_ok=True)
+if not os.path.exists(videos_dir):
+    os.makedirs(videos_dir, exist_ok=True)
+
+if __name__ == "__main__":
+    # Create the gym environment - check the kwargs in gym_real_world/gym_environment.py
+    gym_handle = "gym_real_world/RealEnv-v0"
+    gym_kwargs = {}
+    if gym_config is not None:
+        gym_kwargs = OmegaConf.to_container(gym_config.gym_kwargs)
+    env = gym.make(
+        gym_handle, disable_env_checker=True, record=True, fps=fps, fps_tolerance=fps_tolerance, mock=True
+    )
+
+    ep_dicts = []
+    episode_data_index = {"from": [], "to": []}
+    ep_fps = []
+    id_from = 0
+    id_to = 0
+    os.system('spd-say "gym environment created"')
+
+    ep_idx = 0
+    while ep_idx < num_episodes:
+        # bring the follower to the leader and start camera
+        env.reset()
+
+        os.system(f'spd-say "go {ep_idx}"')
+        # init buffers
+        obs_replay = {k: [] for k in env.observation_space}
+
+        drop_episode = False
+        timestamps = []
+        for _ in tqdm(range(num_frames)):
+            # Apply the next action
+            observation, _, _, _, info = env.step(action=None)
+            # images_stacked = np.hstack(list(observation['pixels'].values()))
+            # images_stacked = cv2.cvtColor(images_stacked, cv2.COLOR_RGB2BGR)
+            # cv2.imshow('frame', images_stacked)
+
+            if info["fps_error"]:
+                os.system(f'spd-say "Error fps too low, dropping episode {ep_idx}"')
+                drop_episode = True
+                break
+
+            # store data
+            for key in observation:
+                obs_replay[key].append(copy.deepcopy(observation[key]))
+            timestamps.append(info["timestamp"])
+
+            # if cv2.waitKey(1) & 0xFF == ord('q'):
+            #     break
+
+        os.system('spd-say "stop"')
+
+        if not drop_episode:
+            os.system(f'spd-say "saving episode {ep_idx}"')
+            ep_dict = {}
+            # store images in png and create the video
+            for img_key in env.cameras:
+                save_images_concurrently(
+                    obs_replay[img_key],
+                    images_dir / f"{img_key}_episode_{ep_idx:06d}",
+                    args.num_workers,
+                )
+                fname = f"{img_key}_episode_{ep_idx:06d}.mp4"
+                # store the reference to the video frame
+                ep_dict[f"observation.{img_key}"] = [
+                    {"path": f"videos/{fname}", "timestamp": tstp} for tstp in timestamps
+                ]
+
+            state = torch.tensor(np.array(obs_replay["agent_pos"]))
+            action = torch.tensor(np.array(obs_replay["leader_pos"]))
+            next_done = torch.zeros(num_frames, dtype=torch.bool)
+            next_done[-1] = True
+
+            ep_dict["observation.state"] = state
+            ep_dict["action"] = action
+            ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames, dtype=torch.int64)
+            ep_dict["frame_index"] = torch.arange(0, num_frames, 1)
+            ep_dict["timestamp"] = torch.tensor(timestamps)
+            ep_dict["next.done"] = next_done
+            ep_fps.append(num_frames / timestamps[-1])
+            ep_dicts.append(ep_dict)
+            print(f"Episode {ep_idx} done, fps: {ep_fps[-1]:.2f}")
+
+            episode_data_index["from"].append(id_from)
+            episode_data_index["to"].append(
+                id_from + num_frames if args.keep_last else id_from + num_frames - 1
+            )
+
+            id_to = id_from + num_frames if args.keep_last else id_from + num_frames - 1
+            id_from = id_to
+
+            ep_idx += 1
+
+    env.close()
+
+    os.system('spd-say "encode video frames"')
+    for ep_idx in range(num_episodes):
+        for img_key in env.cameras:
+            # If necessary, we may want to encode the video
+            # with variable frame rate: https://superuser.com/questions/1661901/encoding-video-from-vfr-still-images
+            encode_video_frames(
+                images_dir / f"{img_key}_episode_{ep_idx:06d}",
+                videos_dir / f"{img_key}_episode_{ep_idx:06d}.mp4",
+                ep_fps[ep_idx],
+            )
+
+    os.system('spd-say "concatenate episodes"')
+    data_dict = concatenate_episodes(
+        ep_dicts, drop_episodes_last_frame=not args.keep_last
+    )  # Since our fps varies we are sometimes off tolerance for the last frame
+
+    features = {}
+
+    keys = [key for key in data_dict if "observation.images." in key]
+    for key in keys:
+        features[key] = VideoFrame()
+
+    features["observation.state"] = Sequence(
+        length=data_dict["observation.state"].shape[1], feature=Value(dtype="float32", id=None)
+    )
+    features["action"] = Sequence(
+        length=data_dict["action"].shape[1], feature=Value(dtype="float32", id=None)
+    )
+    features["episode_index"] = Value(dtype="int64", id=None)
+    features["frame_index"] = Value(dtype="int64", id=None)
+    features["timestamp"] = Value(dtype="float32", id=None)
+    features["next.done"] = Value(dtype="bool", id=None)
+    features["index"] = Value(dtype="int64", id=None)
+
+    hf_dataset = Dataset.from_dict(data_dict, features=Features(features))
+    hf_dataset.set_transform(hf_transform_to_torch)
+
+    info = {
+        "fps": sum(ep_fps) / len(ep_fps),  # to have a good tolerance in data processing for the slowest video
+        "video": 1,
+    }
+
+    os.system('spd-say "from preloaded"')
+    lerobot_dataset = LeRobotDataset.from_preloaded(
+        repo_id=repo_id,
+        version=revision,
+        hf_dataset=hf_dataset,
+        episode_data_index=episode_data_index,
+        info=info,
+        videos_dir=videos_dir,
+    )
+    os.system('spd-say "compute stats"')
+    stats = compute_stats(lerobot_dataset)
+
+    os.system('spd-say "save to disk"')
+    hf_dataset = hf_dataset.with_format(None)  # to remove transforms that cant be saved
+    hf_dataset.save_to_disk(str(out_data / "train"))
+
+    save_meta_data(info, stats, episode_data_index, meta_data_dir)
+
+    if args.push_to_hub:
+        hf_dataset.push_to_hub(repo_id, token=True, revision="main")
+        hf_dataset.push_to_hub(repo_id, token=True, revision=revision)
+
+        push_meta_data_to_hub(repo_id, meta_data_dir, revision="main")
+        push_meta_data_to_hub(repo_id, meta_data_dir, revision=revision)
+
+        push_videos_to_hub(repo_id, videos_dir, revision="main")
+        push_videos_to_hub(repo_id, videos_dir, revision=revision)
--- a/examples/real_robot_example/run_policy.py
+++ b/examples/real_robot_example/run_policy.py
@@ -0,0 +1,60 @@
+import argparse
+import logging
+from pathlib import Path
+
+import gym_real_world  # noqa: F401
+import gymnasium as gym  # noqa: F401
+from huggingface_hub import snapshot_download
+from huggingface_hub.utils._errors import RepositoryNotFoundError
+from huggingface_hub.utils._validators import HFValidationError
+
+from lerobot.common.utils.utils import init_logging
+from lerobot.scripts.eval import eval
+
+if __name__ == "__main__":
+    init_logging()
+
+    parser = argparse.ArgumentParser(
+        description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter
+    )
+    group = parser.add_mutually_exclusive_group(required=True)
+    group.add_argument(
+        "-p",
+        "--pretrained-policy-name-or-path",
+        help=(
+            "Either the repo ID of a model hosted on the Hub or a path to a directory containing weights "
+            "saved using `Policy.save_pretrained`. If not provided, the policy is initialized from scratch "
+            "(useful for debugging). This argument is mutually exclusive with `--config`."
+        ),
+    )
+    parser.add_argument("--revision", help="Optionally provide the Hugging Face Hub revision ID.")
+    parser.add_argument(
+        "overrides",
+        nargs="*",
+        help="Any key=value arguments to override config values (use dots for.nested=overrides)",
+    )
+    args = parser.parse_args()
+
+    try:
+        pretrained_policy_path = Path(
+            snapshot_download(args.pretrained_policy_name_or_path, revision=args.revision)
+        )
+    except (HFValidationError, RepositoryNotFoundError) as e:
+        if isinstance(e, HFValidationError):
+            error_message = (
+                "The provided pretrained_policy_name_or_path is not a valid Hugging Face Hub repo ID."
+            )
+        else:
+            error_message = (
+                "The provided pretrained_policy_name_or_path was not found on the Hugging Face Hub."
+            )
+
+        logging.warning(f"{error_message} Treating it as a local directory.")
+        pretrained_policy_path = Path(args.pretrained_policy_name_or_path)
+    if not pretrained_policy_path.is_dir() or not pretrained_policy_path.exists():
+        raise ValueError(
+            "The provided pretrained_policy_name_or_path is not a valid/existing Hugging Face Hub "
+            "repo ID, nor is it an existing local directory."
+        )
+
+    eval(pretrained_policy_path=pretrained_policy_path, config_overrides=args.overrides)
--- a/examples/real_robot_example/train_config/env/gym_real_world.yaml
+++ b/examples/real_robot_example/train_config/env/gym_real_world.yaml
@@ -0,0 +1,19 @@
+# @package _global_
+
+fps: 30
+
+env:
+  name: real_world
+  task: RealEnv-v0
+  state_dim: 6
+  action_dim: 6
+  fps: ${fps}
+  episode_length: 200
+  real_world: true
+  gym:
+    cameras_shapes:
+        images.high: [480, 640, 3]
+        images.low: [480, 640, 3]
+    cameras_ports:
+        images.high: /dev/video6
+        images.low: /dev/video0
--- a/examples/real_robot_example/train_config/env/gym_real_world_debug.yaml
+++ b/examples/real_robot_example/train_config/env/gym_real_world_debug.yaml
@@ -0,0 +1,19 @@
+# @package _global_
+
+fps: 30
+
+env:
+  name: real_world
+  task: RealEnv-v0
+  state_dim: 6
+  action_dim: 6
+  fps: ${fps}
+  episode_length: 200
+  real_world: true
+  gym:
+    cameras_shapes:
+        images.top: [480, 640, 3]
+        images.front: [480, 640, 3]
+    cameras_ports:
+        images.top: /dev/video6
+        images.front: /dev/video0
--- a/examples/real_robot_example/train_config/policy/act_real_world.yaml
+++ b/examples/real_robot_example/train_config/policy/act_real_world.yaml
@@ -0,0 +1,103 @@
+# @package _global_
+
+# Use `act_real.yaml` to train on real-world Aloha/Aloha2 datasets.
+# Compared to `act.yaml`, it contains 4 cameras (i.e. right_wrist, left_wrist, images,
+# low) instead of 1 camera (i.e. top). Also, `training.eval_freq` is set to -1. This config is used
+# to evaluate checkpoints at a certain frequency of training steps. When it is set to -1, it deactivates evaluation.
+# This is because real-world evaluation is done through [dora-lerobot](https://github.com/dora-rs/dora-lerobot).
+# Look at its README for more information on how to evaluate a checkpoint in the real-world.
+#
+# Example of usage for training:
+# ```bash
+# python lerobot/scripts/train.py \
+#   policy=act_real \
+#   env=aloha_real
+# ```
+
+seed: 1000
+dataset_repo_id: ???
+
+override_dataset_stats:
+  observation.images.high:
+    # stats from imagenet, since we use a pretrained vision model
+    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
+    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
+  observation.images.low:
+    # stats from imagenet, since we use a pretrained vision model
+    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
+    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
+
+training:
+  offline_steps: 1000
+  online_steps: 0
+  eval_freq: -1
+  save_freq: 1000
+  log_freq: 100
+  save_checkpoint: true
+
+  batch_size: 8
+  lr: 1e-5
+  lr_backbone: 1e-5
+  weight_decay: 1e-4
+  grad_clip_norm: 10
+  online_steps_between_rollouts: 1
+
+  delta_timestamps:
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
+
+eval:
+  n_episodes: 1
+  batch_size: 1
+
+# See `configuration_act.py` for more details.
+policy:
+  name: act
+
+  # Input / output structure.
+  n_obs_steps: 1
+  chunk_size: 100 # chunk_size
+  n_action_steps: 100
+
+  input_shapes:
+    # TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env?
+    observation.images.high: [3, 480, 640]
+    observation.images.low: [3, 480, 640]
+    observation.state: ["${env.state_dim}"]
+  output_shapes:
+    action: ["${env.action_dim}"]
+
+  # Normalization / Unnormalization
+  input_normalization_modes:
+    observation.images.high: mean_std
+    observation.images.low: mean_std
+    observation.state: mean_std
+  output_normalization_modes:
+    action: mean_std
+
+  # Architecture.
+  # Vision backbone.
+  vision_backbone: resnet18
+  pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+  replace_final_stride_with_dilation: false
+  # Transformer layers.
+  pre_norm: false
+  dim_model: 512
+  n_heads: 8
+  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
+  latent_dim: 32
+  n_vae_encoder_layers: 4
+
+  # Inference.
+  temporal_ensemble_momentum: null
+
+  # Training and loss computation.
+  dropout: 0.1
+  kl_weight: 10.0
--- a/examples/real_robot_example/train_config/policy/act_real_world_debug.yaml
+++ b/examples/real_robot_example/train_config/policy/act_real_world_debug.yaml
@@ -0,0 +1,103 @@
+# @package _global_
+
+# Use `act_real.yaml` to train on real-world Aloha/Aloha2 datasets.
+# Compared to `act.yaml`, it contains 4 cameras (i.e. right_wrist, left_wrist, images,
+# front) instead of 1 camera (i.e. top). Also, `training.eval_freq` is set to -1. This config is used
+# to evaluate checkpoints at a certain frequency of training steps. When it is set to -1, it deactivates evaluation.
+# This is because real-world evaluation is done through [dora-lerobot](https://github.com/dora-rs/dora-lerobot).
+# Look at its README for more information on how to evaluate a checkpoint in the real-world.
+#
+# Example of usage for training:
+# ```bash
+# python lerobot/scripts/train.py \
+#   policy=act_real \
+#   env=aloha_real
+# ```
+
+seed: 1000
+dataset_repo_id: ???
+
+override_dataset_stats:
+  observation.images.top:
+    # stats from imagenet, since we use a pretrained vision model
+    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
+    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
+  observation.images.front:
+    # stats from imagenet, since we use a pretrained vision model
+    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
+    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
+
+training:
+  offline_steps: 1000
+  online_steps: 0
+  eval_freq: -1
+  save_freq: 1000
+  log_freq: 100
+  save_checkpoint: true
+
+  batch_size: 8
+  lr: 1e-5
+  lr_backbone: 1e-5
+  weight_decay: 1e-4
+  grad_clip_norm: 10
+  online_steps_between_rollouts: 1
+
+  delta_timestamps:
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
+
+eval:
+  n_episodes: 1
+  batch_size: 1
+
+# See `configuration_act.py` for more details.
+policy:
+  name: act
+
+  # Input / output structure.
+  n_obs_steps: 1
+  chunk_size: 100 # chunk_size
+  n_action_steps: 100
+
+  input_shapes:
+    # TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env?
+    observation.images.top: [3, 480, 640]
+    observation.images.front: [3, 480, 640]
+    observation.state: ["${env.state_dim}"]
+  output_shapes:
+    action: ["${env.action_dim}"]
+
+  # Normalization / Unnormalization
+  input_normalization_modes:
+    observation.images.top: mean_std
+    observation.images.front: mean_std
+    observation.state: mean_std
+  output_normalization_modes:
+    action: mean_std
+
+  # Architecture.
+  # Vision backbone.
+  vision_backbone: resnet18
+  pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+  replace_final_stride_with_dilation: false
+  # Transformer layers.
+  pre_norm: false
+  dim_model: 512
+  n_heads: 8
+  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
+  latent_dim: 32
+  n_vae_encoder_layers: 4
+
+  # Inference.
+  temporal_ensemble_momentum: null
+
+  # Training and loss computation.
+  dropout: 0.1
+  kl_weight: 10.0
--- a/lerobot/common/datasets/factory.py
+++ b/lerobot/common/datasets/factory.py
@@ -56,7 +56,7 @@ def make_dataset(cfg, split: str = "train") -> LeRobotDataset | MultiLeRobotData
        )

    # A soft check to warn if the environment matches the dataset. Don't check if we are using a real world env (dora).
-    if cfg.env.name != "dora":
+    if not cfg.env.real_world:
        if isinstance(cfg.dataset_repo_id, str):
            dataset_repo_ids = [cfg.dataset_repo_id]  # single dataset
        else:
--- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
+++ b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
@@ -43,9 +43,6 @@ def get_cameras(hdf5_data):


 def check_format(raw_dir) -> bool:
-    # only frames from simulation are uncompressed
-    compressed_images = "sim" not in raw_dir.name
-
    hdf5_paths = list(raw_dir.glob("episode_*.hdf5"))
    assert len(hdf5_paths) != 0
    for hdf5_path in hdf5_paths:
@@ -62,17 +59,15 @@ def check_format(raw_dir) -> bool:
            for camera in get_cameras(data):
                assert num_frames == data[f"/observations/images/{camera}"].shape[0]

-                if compressed_images:
-                    assert data[f"/observations/images/{camera}"].ndim == 2
-                else:
-                    assert data[f"/observations/images/{camera}"].ndim == 4
+                # ndim 2 when image are compressed and 4 when uncompressed
+                assert data[f"/observations/images/{camera}"].ndim in [2, 4]
+                if data[f"/observations/images/{camera}"].ndim == 4:
                    b, h, w, c = data[f"/observations/images/{camera}"].shape
                    assert c < h and c < w, f"Expect (h,w,c) image format but ({h=},{w=},{c=}) provided."


 def load_from_raw(raw_dir, out_dir, fps, video, debug):
    # only frames from simulation are uncompressed
-    compressed_images = "sim" not in raw_dir.name

    hdf5_files = list(raw_dir.glob("*.hdf5"))
    ep_dicts = []
@@ -99,7 +94,7 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
            for camera in get_cameras(ep):
                img_key = f"observation.images.{camera}"

-                if compressed_images:
+                if ep[f"/observations/images/{camera}"].ndim == 2:
                    import cv2

                    # load one compressed image after the other in RAM and uncompress
--- a/lerobot/common/datasets/push_dataset_to_hub/utils.py
+++ b/lerobot/common/datasets/push_dataset_to_hub/utils.py
@@ -21,19 +21,24 @@ import PIL
 import torch


-def concatenate_episodes(ep_dicts):
+def concatenate_episodes(ep_dicts, drop_episodes_last_frame=False):
    data_dict = {}

    keys = ep_dicts[0].keys()
    for key in keys:
        if torch.is_tensor(ep_dicts[0][key][0]):
-            data_dict[key] = torch.cat([ep_dict[key] for ep_dict in ep_dicts])
+            if drop_episodes_last_frame:
+                data_dict[key] = torch.cat([ep_dict[key][:-1] for ep_dict in ep_dicts])
+            else:
+                data_dict[key] = torch.cat([ep_dict[key] for ep_dict in ep_dicts])
        else:
            if key not in data_dict:
                data_dict[key] = []
            for ep_dict in ep_dicts:
                for x in ep_dict[key]:
                    data_dict[key].append(x)
+                if drop_episodes_last_frame:
+                    data_dict[key].pop()

    total_frames = data_dict["frame_index"].shape[0]
    data_dict["index"] = torch.arange(0, total_frames, 1)
--- a/lerobot/common/envs/utils.py
+++ b/lerobot/common/envs/utils.py
@@ -29,10 +29,12 @@ def preprocess_observation(observations: dict[str, np.ndarray]) -> dict[str, Ten
    # map to expected inputs for the policy
    return_observations = {}

-    if isinstance(observations["pixels"], dict):
+    if "pixels" in observations and isinstance(observations["pixels"], dict):
        imgs = {f"observation.images.{key}": img for key, img in observations["pixels"].items()}
-    else:
+    elif "pixels" in observations and isinstance(observations["pixels"], np.ndarray):
        imgs = {"observation.image": observations["pixels"]}
+    else:
+        imgs = {f"observation.{key}": img for key, img in observations.items() if "images" in key}

    for imgkey, img in imgs.items():
        img = torch.from_numpy(img)
--- a/lerobot/common/policies/act/configuration_act.py
+++ b/lerobot/common/policies/act/configuration_act.py
@@ -129,7 +129,9 @@ class ACTConfig:
    # 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.
+    # As a consequence we also remove the final, unused layer normalization, by default
    n_decoder_layers: int = 1
+    decoder_norm: bool = False
    # VAE.
    use_vae: bool = True
    latent_dim: int = 32
--- a/lerobot/common/policies/act/modeling_act.py
+++ b/lerobot/common/policies/act/modeling_act.py
@@ -315,8 +315,14 @@ class ACT(nn.Module):
            pos_embed = self.vae_encoder_pos_enc.clone().detach()  # (1, S+2, D)

            # Forward pass through VAE encoder to get the latent PDF parameters.
+            cls_joint_is_pad = torch.full((batch_size, 2), False).to(
+                batch["observation.state"].device
+            )  # False: not a padding
+            key_padding_mask = torch.cat([cls_joint_is_pad, batch["action_is_pad"]], axis=1)  # (bs, seq+1)
            cls_token_out = self.vae_encoder(
-                vae_encoder_input.permute(1, 0, 2), pos_embed=pos_embed.permute(1, 0, 2)
+                vae_encoder_input.permute(1, 0, 2),
+                pos_embed=pos_embed.permute(1, 0, 2),
+                key_padding_mask=key_padding_mask,
            )[0]  # select the class token, with shape (B, D)
            latent_pdf_params = self.vae_encoder_latent_output_proj(cls_token_out)
            mu = latent_pdf_params[:, : self.config.latent_dim]
@@ -402,9 +408,11 @@ class ACTEncoder(nn.Module):
        self.layers = nn.ModuleList([ACTEncoderLayer(config) for _ in range(config.n_encoder_layers)])
        self.norm = nn.LayerNorm(config.dim_model) if config.pre_norm else nn.Identity()

-    def forward(self, x: Tensor, pos_embed: Tensor | None = None) -> Tensor:
+    def forward(
+        self, x: Tensor, pos_embed: Tensor | None = None, key_padding_mask: Tensor | None = None
+    ) -> Tensor:
        for layer in self.layers:
-            x = layer(x, pos_embed=pos_embed)
+            x = layer(x, pos_embed=pos_embed, key_padding_mask=key_padding_mask)
        x = self.norm(x)
        return x

@@ -427,12 +435,14 @@ class ACTEncoderLayer(nn.Module):
        self.activation = get_activation_fn(config.feedforward_activation)
        self.pre_norm = config.pre_norm

-    def forward(self, x, pos_embed: Tensor | None = None) -> Tensor:
+    def forward(self, x, pos_embed: Tensor | None = None, key_padding_mask: Tensor | None = None) -> Tensor:
        skip = x
        if self.pre_norm:
            x = self.norm1(x)
        q = k = x if pos_embed is None else x + pos_embed
-        x = self.self_attn(q, k, value=x)[0]  # select just the output, not the attention weights
+        x = self.self_attn(q, k, value=x, key_padding_mask=key_padding_mask)[
+            0
+        ]  # select just the output, not the attention weights
        x = skip + self.dropout1(x)
        if self.pre_norm:
            skip = x
@@ -452,7 +462,10 @@ class ACTDecoder(nn.Module):
        """Convenience module for running multiple decoder layers followed by normalization."""
        super().__init__()
        self.layers = nn.ModuleList([ACTDecoderLayer(config) for _ in range(config.n_decoder_layers)])
-        self.norm = nn.LayerNorm(config.dim_model)
+        if config.decoder_norm:
+            self.norm = nn.LayerNorm(config.dim_model)
+        else:
+            self.norm = nn.Identity()

    def forward(
        self,
@@ -465,8 +478,7 @@ class ACTDecoder(nn.Module):
            x = layer(
                x, encoder_out, decoder_pos_embed=decoder_pos_embed, encoder_pos_embed=encoder_pos_embed
            )
-        if self.norm is not None:
-            x = self.norm(x)
+        x = self.norm(x)
        return x


--- a/lerobot/configs/default.yaml
+++ b/lerobot/configs/default.yaml
@@ -50,6 +50,8 @@ eval:
  batch_size: 1
  # `use_async_envs` specifies whether to use asynchronous environments (multiprocessing).
  use_async_envs: false
+  # Specify the number of episodes to render during evaluation.
+  max_episodes_rendered: 10

 wandb:
  enable: false
--- a/lerobot/configs/env/aloha.yaml
+++ b/lerobot/configs/env/aloha.yaml
@@ -9,6 +9,7 @@ env:
  action_dim: 14
  fps: ${fps}
  episode_length: 400
+  real_world: false
  gym:
    obs_type: pixels_agent_pos
    render_mode: rgb_array
--- a/lerobot/configs/env/dora_aloha_real.yaml
+++ b/lerobot/configs/env/dora_aloha_real.yaml
@@ -9,5 +9,6 @@ env:
  action_dim: 14
  fps: ${fps}
  episode_length: 400
+  real_world: true
  gym:
    fps: ${fps}
--- a/lerobot/configs/env/pusht.yaml
+++ b/lerobot/configs/env/pusht.yaml
@@ -10,6 +10,7 @@ env:
  action_dim: 2
  fps: ${fps}
  episode_length: 300
+  real_world: false
  gym:
    obs_type: pixels_agent_pos
    render_mode: rgb_array
--- a/lerobot/configs/env/xarm.yaml
+++ b/lerobot/configs/env/xarm.yaml
@@ -10,6 +10,7 @@ env:
  action_dim: 4
  fps: ${fps}
  episode_length: 25
+  real_world: false
  gym:
    obs_type: pixels_agent_pos
    render_mode: rgb_array
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -44,6 +44,7 @@ https://huggingface.co/lerobot/diffusion_pusht/tree/main.
 import argparse
 import json
 import logging
+import os
 import threading
 import time
 from contextlib import nullcontext
@@ -164,7 +165,10 @@ def rollout(
        # VectorEnv stores is_success in `info["final_info"][env_index]["is_success"]`. "final_info" isn't
        # available of none of the envs finished.
        if "final_info" in info:
-            successes = [info["is_success"] if info is not None else False for info in info["final_info"]]
+            successes = [
+                i["is_success"] if (i is not None and "is_success" in i) else False
+                for i in info["final_info"]
+            ]
        else:
            successes = [False] * env.num_envs

@@ -516,6 +520,7 @@ def eval(
    out_dir = (
        f"outputs/eval/{dt.now().strftime('%Y-%m-%d/%H-%M-%S')}_{hydra_cfg.env.name}_{hydra_cfg.policy.name}"
    )
+    os.makedirs(out_dir, exist_ok=True)

    if out_dir is None:
        raise NotImplementedError()
@@ -545,7 +550,7 @@ def eval(
            env,
            policy,
            hydra_cfg.eval.n_episodes,
-            max_episodes_rendered=10,
+            max_episodes_rendered=hydra_cfg.eval.max_episodes_rendered,
            video_dir=Path(out_dir) / "eval",
            start_seed=hydra_cfg.seed,
            enable_progbar=True,
--- a/lerobot/scripts/train.py
+++ b/lerobot/scripts/train.py
@@ -406,7 +406,8 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No

        step += 1

-    eval_env.close()
+    if cfg.training.eval_freq > 0:
+        eval_env.close()
    logging.info("End of training")


--- a/tests/test_examples.py
+++ b/tests/test_examples.py
@@ -29,8 +29,8 @@ def _find_and_replace(text: str, finds_and_replaces: list[tuple[str, str]]) -> s
    return text


-def _run_script(path):
-    subprocess.run([sys.executable, path], check=True)
+def _run_script(path, args=None):
+    subprocess.run([sys.executable, path] + args if args is not None else [], check=True)


 def _read_file(path):
@@ -126,3 +126,22 @@ def test_examples_basic2_basic3_advanced1():
    # Restore stdout to its original state
    sys.stdout = sys.__stdout__
    assert "Average loss on validation set" in printed_output
+
+
+def test_real_world_recording():
+    path = "examples/real_robot_example/record_training_data.py"
+    _run_script(
+        path,
+        [
+            "--data_dir",
+            "outputs/examples",
+            "--repo-id",
+            "real_world_debug",
+            "--num-episodes",
+            "2",
+            "--num-frames",
+            "10",
+            "--mock-robot",
+        ],
+    )
+    assert Path("outputs/examples/real_world_debug/video/episode_0.mp4").exists()
Author	SHA1	Message	Date
Thomas Wolf	a7c030076f	conversion script from original ACT repo	2024-06-10 23:44:33 +02:00
Thomas Wolf	ddaaa9f279	updating with adding masking in ACT - start adding some tests	2024-06-10 15:30:57 +02:00
Thomas Wolf	ef074d7281	add train and evals	2024-06-09 14:03:47 +02:00
Thomas Wolf	797f79f182	update	2024-06-08 17:54:06 +02:00
Thomas Wolf	7ff93e8a51	Update examples/real_robot_example/0_record_training_data.py Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:17:28 +02:00
Thomas Wolf	c304474f6a	Update examples/real_robot_example/0_record_training_data.py Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:17:19 +02:00
Thomas Wolf	e53a03ca53	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:17:12 +02:00
Thomas Wolf	86508a167f	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:17:05 +02:00
Thomas Wolf	ac9bbf2cd7	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:16:55 +02:00
Thomas Wolf	cc3dcf2b89	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:16:48 +02:00
Thomas Wolf	5332fef758	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:16:41 +02:00
Thomas Wolf	a40d0cbcc7	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:16:33 +02:00
Thomas Wolf	3717639f11	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:16:25 +02:00
Thomas Wolf	562f09451e	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:16:17 +02:00
Thomas Wolf	754944151c	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:15:56 +02:00
Thomas Wolf	480ed50d36	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:15:08 +02:00
Thomas Wolf	ac7d6228ed	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:15:01 +02:00
Thomas Wolf	a461a71277	Update README.md Co-authored-by: Remi <re.cadene@gmail.com>	2024-06-08 12:14:55 +02:00
Thomas Wolf	57d3d27c78	add simple manual real world gym env example	2024-06-05 00:37:46 +02:00
Thomas Wolf	0935e49c8a	add lerobotdataset in readme	2024-06-04 18:45:12 +02:00