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change pedal flow

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Pepijn
2026-01-02 09:53:40 +01:00
parent 8277dbf0dc
commit a447c652cb
3 changed files with 186 additions and 111 deletions
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docs/source/rac.mdx
+19 -9
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@@ -122,32 +122,42 @@ python examples/rac/rac_data_collection.py \
--dataset.num_episodes=50
```
**Keyboard Controls:**
**Controls (Keyboard + Foot Pedal):**
| Key | Action |
|-----|--------|
| **SPACE** | Pause policy (teleop mirrors robot, no recording) |
| **c** | Take control (start correction, recording resumes) |
| **→** | End episode (save) |
| Key / Pedal | Action |
|-------------|--------|
| **SPACE** / Right pedal | Pause policy (teleop mirrors robot, no recording) |
| **c** / Left pedal | Take control (start correction, recording resumes) |
| **→** / Right pedal | End episode (save) - when in correction mode |
| **←** | Re-record episode |
| **ESC** | Stop session and push to hub |
| Any key/pedal during reset | Start next episode |
**The RaC Protocol:**
1. Watch the policy run autonomously (teleop is idle/free)
2. When you see imminent failure, press **SPACE** to pause
2. When you see imminent failure, press **SPACE** or **right pedal** to pause
- Policy stops
- Teleoperator moves to match robot position (torque enabled)
- No frames recorded during pause
3. Press **c** to take control
3. Press **c** or **left pedal** to take control
- Teleoperator torque disabled, free to move
- **RECOVERY**: Teleoperate back to a good state
- **CORRECTION**: Complete the subtask
- All movements are recorded
4. Press **→** to save and end episode
4. Press **→** or **right pedal** to save and end episode
5. **RESET**: Teleop moves to robot position, you can move robot to starting position
6. Press any key/pedal to start next episode
The recovery and correction segments teach the policy how to recover from errors.
**Foot Pedal Setup (Linux):**
If using a USB foot pedal (PCsensor FootSwitch), ensure access:
```bash
sudo setfacl -m u:$USER:rw /dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd
```
### Step 3: (Optional) Compute SARM Rewards
For advantage-weighted training (RA-BC / Pi0.6-style), compute SARM progress values:
examples/rac/rac_data_collection.py
+84 -51
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@@ -133,6 +133,8 @@ def init_rac_keyboard_listener():
"stop_recording": False,
"policy_paused": False, # SPACE pressed - policy paused, teleop tracking robot
"correction_active": False, # 'c' pressed - human controlling, recording correction
"in_reset": False, # True during reset period
"start_next_episode": False, # Signal to start next episode
}
if is_headless():
@@ -143,27 +145,41 @@ def init_rac_keyboard_listener():
def on_press(key):
try:
if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press 'c' to take control and start correction")
events["policy_paused"] = True
elif hasattr(key, 'char') and key.char == 'c':
if events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ▶ CORRECTION - You have control (recording)")
print(" Teleoperate to correct, press → when done")
events["correction_active"] = True
elif key == keyboard.Key.right:
print("[RaC] → End episode")
events["exit_early"] = True
elif key == keyboard.Key.left:
print("[RaC] ← Re-record episode")
events["rerecord_episode"] = True
events["exit_early"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["exit_early"] = True
if events["in_reset"]:
# During reset: any action key starts next episode
if key == keyboard.Key.space or key == keyboard.Key.right:
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif hasattr(key, 'char') and key.char == 'c':
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["start_next_episode"] = True
else:
# During episode
if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press 'c' to take control and start correction")
events["policy_paused"] = True
elif hasattr(key, 'char') and key.char == 'c':
if events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ▶ CORRECTION - You have control (recording)")
print(" Teleoperate to correct, press → when done")
events["correction_active"] = True
elif key == keyboard.Key.right:
print("[RaC] → End episode")
events["exit_early"] = True
elif key == keyboard.Key.left:
print("[RaC] ← Re-record episode")
events["rerecord_episode"] = True
events["exit_early"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["exit_early"] = True
except Exception as e:
print(f"Key error: {e}")
@@ -186,14 +202,14 @@ def start_pedal_listener(events: dict):
return
PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
KEY_LEFT = "KEY_A" # Left pedal -> 'c' (take control)
KEY_RIGHT = "KEY_C" # Right pedal -> SPACE (pause) or → (next)
KEY_LEFT = "KEY_A" # Left pedal
KEY_RIGHT = "KEY_C" # Right pedal
def pedal_reader():
try:
dev = InputDevice(PEDAL_DEVICE)
print(f"[Pedal] Connected: {dev.name}")
print(f"[Pedal] Right={KEY_RIGHT} (pause/next), Left={KEY_LEFT} (take control)")
print(f"[Pedal] Right=pause/next, Left=take control/start")
for ev in dev.read_loop():
if ev.type != ecodes.EV_KEY:
@@ -209,22 +225,29 @@ def start_pedal_listener(events: dict):
if key.keystate != 1:
continue
if code == KEY_RIGHT:
# Right pedal: SPACE (pause) when running, → (next) when in correction
if events["correction_active"]:
print("\n[Pedal] → End episode")
events["exit_early"] = True
elif not events["policy_paused"]:
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press left pedal to take control")
events["policy_paused"] = True
elif code == KEY_LEFT:
# Left pedal: 'c' (take control) when paused
if events["policy_paused"] and not events["correction_active"]:
print("\n[Pedal] ▶ CORRECTION - You have control (recording)")
print(" Press right pedal when done")
events["correction_active"] = True
if events["in_reset"]:
# During reset: either pedal starts next episode
if code in [KEY_LEFT, KEY_RIGHT]:
print("\n[Pedal] Starting next episode...")
events["start_next_episode"] = True
else:
# During episode
if code == KEY_RIGHT:
# Right pedal: SPACE (pause) when running, → (next) when in correction
if events["correction_active"]:
print("\n[Pedal] → End episode")
events["exit_early"] = True
elif not events["policy_paused"]:
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press left pedal to take control")
events["policy_paused"] = True
elif code == KEY_LEFT:
# Left pedal: 'c' (take control) when paused
if events["policy_paused"] and not events["correction_active"]:
print("\n[Pedal] ▶ CORRECTION - You have control (recording)")
print(" Press right pedal when done")
events["correction_active"] = True
except FileNotFoundError:
logging.info(f"[Pedal] Device not found: {PEDAL_DEVICE}")
@@ -370,24 +393,29 @@ def reset_loop(
teleop: Teleoperator,
events: dict,
fps: int,
reset_time_s: float,
):
"""Reset period where human repositions environment."""
print(f"\n[RaC] Reset time: {reset_time_s}s - reposition environment")
"""Reset period where human repositions environment. Waits for user to start next episode."""
print("\n" + "=" * 65)
print(" [RaC] RESET - Move robot to starting position")
print("=" * 65)
# Enter reset mode
events["in_reset"] = True
events["start_next_episode"] = False
# Move teleop to match robot position to avoid sudden jumps
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
print(" Moving teleop to robot position...")
print(" Moving teleop to robot position...")
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
teleop.disable_torque()
print(" Teleop active - move leader arms to home position")
print(" Teleop active - move robot to starting position")
print(" Press SPACE / → / 'c' or any pedal to start next episode")
print("=" * 65)
timestamp = 0
start_t = time.perf_counter()
while timestamp < reset_time_s and not events["exit_early"]:
# Wait for user to signal ready for next episode
while not events["start_next_episode"] and not events["stop_recording"]:
loop_start = time.perf_counter()
action = teleop.get_action()
@@ -395,7 +423,13 @@ def reset_loop(
dt = time.perf_counter() - loop_start
precise_sleep(1 / fps - dt)
timestamp = time.perf_counter() - start_t
# Exit reset mode and clear flags for next episode
events["in_reset"] = False
events["start_next_episode"] = False
events["exit_early"] = False
events["policy_paused"] = False
events["correction_active"] = False
@parser.wrap()
@@ -520,7 +554,6 @@ def rac_collect(cfg: RaCConfig) -> LeRobotDataset:
teleop=teleop,
events=events,
fps=cfg.dataset.fps,
reset_time_s=cfg.dataset.reset_time_s,
)
finally:
examples/rac/rac_data_collection_openarms.py
+83 -51
View File
@@ -139,6 +139,8 @@ def init_rac_keyboard_listener():
"stop_recording": False,
"policy_paused": False, # SPACE pressed - policy paused, teleop tracking robot
"correction_active": False, # 'c' pressed - human controlling, recording correction
"in_reset": False, # True during reset period
"start_next_episode": False, # Signal to start next episode
}
if is_headless():
@@ -149,27 +151,41 @@ def init_rac_keyboard_listener():
def on_press(key):
try:
if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press 'c' to take control and start correction")
events["policy_paused"] = True
elif hasattr(key, 'char') and key.char == 'c':
if events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ▶ CORRECTION - You have control (recording)")
print(" Teleoperate to correct, press → when done")
events["correction_active"] = True
elif key == keyboard.Key.right:
print("[RaC] → End episode")
events["exit_early"] = True
elif key == keyboard.Key.left:
print("[RaC] ← Re-record episode")
events["rerecord_episode"] = True
events["exit_early"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["exit_early"] = True
if events["in_reset"]:
# During reset: any action key starts next episode
if key == keyboard.Key.space or key == keyboard.Key.right:
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif hasattr(key, 'char') and key.char == 'c':
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["start_next_episode"] = True
else:
# During episode
if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press 'c' to take control and start correction")
events["policy_paused"] = True
elif hasattr(key, 'char') and key.char == 'c':
if events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ▶ CORRECTION - You have control (recording)")
print(" Teleoperate to correct, press → when done")
events["correction_active"] = True
elif key == keyboard.Key.right:
print("[RaC] → End episode")
events["exit_early"] = True
elif key == keyboard.Key.left:
print("[RaC] ← Re-record episode")
events["rerecord_episode"] = True
events["exit_early"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["exit_early"] = True
except Exception as e:
print(f"Key error: {e}")
@@ -192,14 +208,14 @@ def start_pedal_listener(events: dict):
return
PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
KEY_LEFT = "KEY_A" # Left pedal -> 'c' (take control)
KEY_RIGHT = "KEY_C" # Right pedal -> SPACE (pause) or → (next)
KEY_LEFT = "KEY_A" # Left pedal
KEY_RIGHT = "KEY_C" # Right pedal
def pedal_reader():
try:
dev = InputDevice(PEDAL_DEVICE)
print(f"[Pedal] Connected: {dev.name}")
print(f"[Pedal] Right={KEY_RIGHT} (pause/next), Left={KEY_LEFT} (take control)")
print(f"[Pedal] Right=pause/next, Left=take control/start")
for ev in dev.read_loop():
if ev.type != ecodes.EV_KEY:
@@ -215,22 +231,29 @@ def start_pedal_listener(events: dict):
if key.keystate != 1:
continue
if code == KEY_RIGHT:
# Right pedal: SPACE (pause) when running, → (next) when in correction
if events["correction_active"]:
print("\n[Pedal] → End episode")
events["exit_early"] = True
elif not events["policy_paused"]:
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press left pedal to take control")
events["policy_paused"] = True
elif code == KEY_LEFT:
# Left pedal: 'c' (take control) when paused
if events["policy_paused"] and not events["correction_active"]:
print("\n[Pedal] ▶ CORRECTION - You have control (recording)")
print(" Press right pedal when done")
events["correction_active"] = True
if events["in_reset"]:
# During reset: either pedal starts next episode
if code in [KEY_LEFT, KEY_RIGHT]:
print("\n[Pedal] Starting next episode...")
events["start_next_episode"] = True
else:
# During episode
if code == KEY_RIGHT:
# Right pedal: SPACE (pause) when running, → (next) when in correction
if events["correction_active"]:
print("\n[Pedal] → End episode")
events["exit_early"] = True
elif not events["policy_paused"]:
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press left pedal to take control")
events["policy_paused"] = True
elif code == KEY_LEFT:
# Left pedal: 'c' (take control) when paused
if events["policy_paused"] and not events["correction_active"]:
print("\n[Pedal] ▶ CORRECTION - You have control (recording)")
print(" Press right pedal when done")
events["correction_active"] = True
except FileNotFoundError:
logging.info(f"[Pedal] Device not found: {PEDAL_DEVICE}")
@@ -402,23 +425,27 @@ def reset_loop(
teleop: Teleoperator,
events: dict,
fps: int,
reset_time_s: float,
):
"""Reset period where human repositions environment."""
print(f"\n[RaC] Reset time: {reset_time_s}s - reposition environment")
"""Reset period where human repositions environment. Waits for user to start next episode."""
print("\n" + "=" * 65)
print(" [RaC] RESET - Move robot to starting position")
print("=" * 65)
# Enter reset mode
events["in_reset"] = True
events["start_next_episode"] = False
# First move teleop to match robot position to avoid sudden jumps
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features}
print(" Moving teleop to robot position...")
print(" Moving teleop to robot position...")
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
teleop.disable_torque()
print(" Teleop active - move leader arms to home position")
print(" Teleop active - move robot to starting position")
print(" Press SPACE / → / 'c' or any pedal to start next episode")
timestamp = 0
start_t = time.perf_counter()
while timestamp < reset_time_s and not events["exit_early"]:
# Wait for user to signal ready for next episode
while not events["start_next_episode"] and not events["stop_recording"]:
loop_start = time.perf_counter()
action = teleop.get_action()
@@ -430,7 +457,13 @@ def reset_loop(
dt = time.perf_counter() - loop_start
precise_sleep(1 / fps - dt)
timestamp = time.perf_counter() - start_t
# Exit reset mode and clear flags for next episode
events["in_reset"] = False
events["start_next_episode"] = False
events["exit_early"] = False
events["policy_paused"] = False
events["correction_active"] = False
@parser.wrap()
@@ -555,7 +588,6 @@ def rac_collect(cfg: RaCConfig) -> LeRobotDataset:
teleop=teleop,
events=events,
fps=cfg.dataset.fps,
reset_time_s=cfg.dataset.reset_time_s,
)
finally: