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fix rac data collection with rtc by disabling compile

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Pepijn
2026-01-15 17:06:58 +01:00
parent 3316301693
commit d1f50babaa
26 changed files with 553 additions and 20 deletions
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examples/openarms/evaluate.py
+8 -8
View File
@@ -44,13 +44,13 @@ from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun
HF_MODEL_ID = "lerobot-data-collection/three-folds-pi0" # TODO: Replace with your trained model
HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval7" # TODO: Replace with your eval dataset name
TASK_DESCRIPTION = "three-folds-dataset" # TODO: Replace with your task, this should match!!
HF_MODEL_ID = "lerobot-data-collection/level1_rac2_100k" # TODO: Replace with your trained model
HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval_raccc3" # TODO: Replace with your eval dataset name
TASK_DESCRIPTION = "Fold the T-shirt properly" # TODO: Replace with your task, this should match!!
NUM_EPISODES = 1
FPS = 30
EPISODE_TIME_SEC = 300
EPISODE_TIME_SEC = 1000
RESET_TIME_SEC = 60
# Robot CAN interfaces
@@ -58,15 +58,15 @@ FOLLOWER_LEFT_PORT = "can0"
FOLLOWER_RIGHT_PORT = "can1"
# If enabled, you can manually reset the environment between evaluation episodes
USE_LEADER_FOR_RESETS = True # Set to False if you don't want to use leader
USE_LEADER_FOR_RESETS = False # Set to False if you don't want to use leader
LEADER_LEFT_PORT = "can2"
LEADER_RIGHT_PORT = "can3"
# Camera configuration
CAMERA_CONFIG = {
"left_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=640, height=480, fps=FPS),
"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS),
"base": OpenCVCameraConfig(index_or_path="/dev/video3", width=640, height=480, fps=FPS),
"left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=1280, height=720, fps=FPS),
"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=1280, height=720, fps=FPS),
"base": OpenCVCameraConfig(index_or_path="/dev/video2", width=640, height=480, fps=FPS),
}
def main():
examples/openarms/evaluate_with_rtc.py
+11 -11
View File
@@ -73,22 +73,22 @@ logger = logging.getLogger(__name__)
# Default Configuration Constants
# ============================================================================
DEFAULT_HF_MODEL_ID = "lerobot-data-collection/three-folds-pi0"
DEFAULT_HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval_rtc"
DEFAULT_TASK_DESCRIPTION = "three-folds-dataset"
DEFAULT_HF_MODEL_ID = "lerobot-data-collection/level1_rac3_100k"
DEFAULT_HF_EVAL_DATASET_ID = "lerobot-data-collection/test"
DEFAULT_TASK_DESCRIPTION = "Fold the T-shirt properly"
DEFAULT_NUM_EPISODES = 1
DEFAULT_FPS = 30
DEFAULT_EPISODE_TIME_SEC = 300
DEFAULT_EPISODE_TIME_SEC = 1000
DEFAULT_RESET_TIME_SEC = 60
DEFAULT_FOLLOWER_LEFT_PORT = "can0"
DEFAULT_FOLLOWER_RIGHT_PORT = "can1"
DEFAULT_CAMERA_CONFIG = {
"left_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=640, height=480, fps=DEFAULT_FPS),
"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=DEFAULT_FPS),
"base": OpenCVCameraConfig(index_or_path="/dev/video3", width=640, height=480, fps=DEFAULT_FPS),
"left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=1280, height=720, fps=DEFAULT_FPS),
"right_wrist": OpenCVCameraConfig(index_or_path="/dev/video4", width=1280, height=720, fps=DEFAULT_FPS),
"base": OpenCVCameraConfig(index_or_path="/dev/video2", width=640, height=480, fps=DEFAULT_FPS),
}
@@ -141,9 +141,9 @@ class OpenArmsRTCEvalConfig(HubMixin):
rtc: RTCConfig = field(
default_factory=lambda: RTCConfig(
enabled=True,
execution_horizon=10,
max_guidance_weight=10.0,
prefix_attention_schedule=RTCAttentionSchedule.EXP,
execution_horizon=20,
max_guidance_weight=5.0,
prefix_attention_schedule=RTCAttentionSchedule.LINEAR,
)
)
@@ -167,7 +167,7 @@ class OpenArmsRTCEvalConfig(HubMixin):
record_dataset: bool = True
push_to_hub: bool = True
interpolation: bool = False
interpolation: bool = True
use_torch_compile: bool = False
torch_compile_backend: str = "inductor"