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feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

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* feat(scripts): lerobot-rollout

* fix(rollout) require dataset in dagger + use duration too

* fix(docs): dagger num_episodes

* test(rollout): fix expectations

* fix(rollout): features check

* fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config

* docs(rollout): edit rename_map instructions

* chore(rollout): multiple minor improvements

* chore(rollout): address coments + minor improvements

* fix(rollout): enable default

* fix(tests): default value RTCConfig

* fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): prevent relativeactions with sync inference engine

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): rtc reanchor to non normalized state

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): fixing the episode length to use hwc (#3469)

also reducing default length to 5 minutes

* feat(rollout): go back to initial position is now a config

* fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470)

* chore(rollout): note about dagger correction stage

* chore(docs): update comments and docstring

* fix(test): move rtc relative out of rollout module

* fix(rollout): address the review comments

---------

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
This commit is contained in:
Steven Palma
2026-04-28 00:57:35 +02:00
committed by GitHub
parent 77352c495c
commit ca87ccd941
62 changed files with 5577 additions and 2847 deletions
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examples/lekiwi/record.py
+10 -9
View File
@@ -45,9 +45,6 @@ def main():
leader_arm = SO100Leader(leader_arm_config)
keyboard = KeyboardTeleop(keyboard_config)
# TODO(Steven): Update this example to use pipelines
teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
# Configure the dataset features
action_features = hw_to_dataset_features(robot.action_features, ACTION)
obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
@@ -77,6 +74,10 @@ def main():
if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
raise ValueError("Robot or teleop is not connected!")
teleop_action_processor, robot_action_processor, robot_observation_processor = (
make_default_processors()
)
print("Starting record loop...")
recorded_episodes = 0
while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
@@ -87,14 +88,14 @@ def main():
robot=robot,
events=events,
fps=FPS,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
dataset=dataset,
teleop=[leader_arm, keyboard],
control_time_s=EPISODE_TIME_SEC,
single_task=TASK_DESCRIPTION,
display_data=True,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
)
# Reset the environment if not stopping or re-recording
@@ -106,13 +107,13 @@ def main():
robot=robot,
events=events,
fps=FPS,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
teleop=[leader_arm, keyboard],
control_time_s=RESET_TIME_SEC,
single_task=TASK_DESCRIPTION,
display_data=True,
teleop_action_processor=teleop_action_processor,
robot_action_processor=robot_action_processor,
robot_observation_processor=robot_observation_processor,
)
if events["rerecord_episode"]: