From 3e0e349d0a7e0911f2ea9c73984467cd161593a4 Mon Sep 17 00:00:00 2001 From: Nicolas Rabault Date: Fri, 26 Jun 2026 16:11:01 +0200 Subject: [PATCH] fix(jobs): drop --dataset.root on resume + restore keyboard-control docs Address the latest Claude review on #3856: - _build_resume_job no longer forwards --dataset.root to the pod (a host-local path it can't read); the fresh-run path already nulls it in build_remote_config_file, so this makes resume consistent. Add a unit test for _pod_forwarded_args covering the drop in both flag forms. - Restore the display-independent keyboard-control docs (n/r/q letter equivalents + X11/Wayland/headless Tip) in il_robots.mdx that this branch was stale on relative to main (#3875). --- docs/source/il_robots.mdx | 16 ++++++++++++---- src/lerobot/jobs/hf.py | 2 +- tests/jobs/test_hf.py | 24 ++++++++++++++++++++++++ 3 files changed, 37 insertions(+), 5 deletions(-) diff --git a/docs/source/il_robots.mdx b/docs/source/il_robots.mdx index b9fdcf049..090b95693 100644 --- a/docs/source/il_robots.mdx +++ b/docs/source/il_robots.mdx @@ -390,9 +390,17 @@ Set the flow of data recording using command-line arguments: Control the data recording flow using keyboard shortcuts: -- Press **Right Arrow (`→`)**: Early stop the current episode or reset time and move to the next. -- Press **Left Arrow (`←`)**: Cancel the current episode and re-record it. -- Press **Escape (`ESC`)**: Immediately stop the session, encode videos, and upload the dataset. +- Press **Right Arrow (`→`)** or **`n`**: Early stop the current episode or reset time and move to the next. +- Press **Left Arrow (`←`)** or **`r`**: Cancel the current episode and re-record it. +- Press **Escape (`ESC`)** or **`q`**: Immediately stop the session, encode videos, and upload the dataset. + + + +These control-flow shortcuts work on **X11, Wayland, and headless/SSH** sessions. When a global keyboard backend isn't available (Wayland, a headless machine, or macOS without Accessibility permission), `lerobot-record` automatically reads the same keys from the terminal — launch it from an interactive terminal and keep it focused. You can also use the letter equivalents **`n`** (next, same as `→`), **`r`** (re-record, same as `←`) and **`q`** (quit, same as `ESC`). No `$DISPLAY` setup is required. + +This applies to the recording control flow only. Keyboard **teleoperation** (driving the robot with the keyboard) still needs a global key backend, so it works only on an X11 session, a Windows desktop, or macOS with Accessibility/Input Monitoring granted — not on Wayland or headless sessions. + + #### Tips for gathering data @@ -406,7 +414,7 @@ If you want to dive deeper into this important topic, you can check out the [blo #### Troubleshooting: -- On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux). +- On Linux, the recording control-flow keys (arrow keys, Escape) work on X11, Wayland, and headless/SSH sessions as long as `lerobot-record` runs in an interactive terminal — no `$DISPLAY` setup is needed. If the keys have no effect, make sure you are in an interactive (TTY) terminal, not a piped/non-TTY session, and that it is focused; the letter equivalents `n` / `r` / `q` also work. Keyboard _teleoperation_ (as opposed to the recording control flow) still requires a global key backend — an X11 session, a Windows desktop, or macOS with Accessibility/Input Monitoring granted — and is unavailable on Wayland or headless machines. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux). ## Visualize a dataset diff --git a/src/lerobot/jobs/hf.py b/src/lerobot/jobs/hf.py index ed79a8a30..2cb5518a1 100644 --- a/src/lerobot/jobs/hf.py +++ b/src/lerobot/jobs/hf.py @@ -256,7 +256,7 @@ def _build_resume_job(cfg: TrainPipelineConfig, username: str) -> tuple[str, lis config_path = parser.parse_arg("config_path") forwarded = _pod_forwarded_args( sys.argv[1:], - drop_names=("--config_path", "--policy.repo_id", "--policy.push_to_hub"), + drop_names=("--config_path", "--policy.repo_id", "--policy.push_to_hub", "--dataset.root"), drop_prefixes=("--job.",), ) diff --git a/tests/jobs/test_hf.py b/tests/jobs/test_hf.py index 2b0df00b5..20e153364 100644 --- a/tests/jobs/test_hf.py +++ b/tests/jobs/test_hf.py @@ -23,6 +23,7 @@ import pytest from lerobot.configs.train import TrainPipelineConfig from lerobot.jobs.hf import ( + _pod_forwarded_args, _poll_until_done, build_remote_config_file, build_repo_id, @@ -123,6 +124,29 @@ def test_build_repo_id_sanitizes_and_timestamps(): assert build_repo_id("alice", "///", now) == "alice/train_2026-06-19_10-22-03" +def test_pod_forwarded_args_drops_host_only_flags(): + """User overrides are replayed on the pod, minus flags that only make sense on the submitter. + + `--dataset.root` is a host-local path the pod can't read, so it must be dropped in both the + `--name=value` and `--name value` forms; unrelated overrides are forwarded untouched. + """ + argv = [ + "--config_path=u/d", + "--dataset.root=/local/data", + "--dataset.root", + "/other/local/data", + "--policy.repo_id=u/keep", + "--steps=10", + "--job.target=a10g-small", + ] + forwarded = _pod_forwarded_args( + argv, + drop_names=("--config_path", "--policy.repo_id", "--policy.push_to_hub", "--dataset.root"), + drop_prefixes=("--job.",), + ) + assert forwarded == ["--steps=10"] + + def _minimal_cfg(): return draccus.parse( TrainPipelineConfig,