* Add dataloader_multiprocessing_context, default to spawn
Make the DataLoader multiprocessing start method configurable on
TrainPipelineConfig and default it to 'spawn'.
The previous default (fork on Linux) is unsafe with libraries that hold
non-fork-safe state in the parent process — common ones in this codebase
are PyAV, torchcodec, and the ffmpeg shared libs they wrap. Symptoms
reported in #2488, #2209, and observed locally include:
- multiprocessing.context.AuthenticationError: digest received was wrong
- RuntimeError: Pin memory thread exited unexpectedly
- RuntimeError: DataLoader worker exited unexpectedly
- Random SIGSEGV inside worker processes during video decode
Switching to spawn re-imports modules cleanly in each worker and
eliminates these failure modes. Added the setting as a config field
rather than hard-coding so users on platforms where fork is preferred
can opt back in via --dataloader-multiprocessing-context=fork.
* Address review: shorten config comment, note spawn startup tradeoff
Per @jashshah999, mention that spawn workers re-import modules and so
add some startup time vs fork. Also trim the failure-mode dump from
the inline comment — the linked issue covers the symptoms in detail.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* chore(scripts): add multiprocessing_context safeguards
* chore(config): add libs note
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Co-authored-by: 0o8o0-blip <0o8o0-blip@users.noreply.github.com>
Register the `lekiwi` robot module in `lerobot_replay.py` so episodes can be
replayed on a LeKiwi via `--robot.type=lekiwi_client`. The module is already
registered in `lerobot_calibrate.py` and `lerobot_setup_motors.py`; this fills
the gap so the replay CLI recognizes the same robot.
Replayed actions are loaded from the dataset as torch tensors, which
`json.dumps` cannot serialize when `LeKiwiClient.send_action` ships them over
ZMQ. Coerce each action value to a plain float before sending. This is scoped
to the LeKiwi network client and does not affect any other robot.
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* fix(record): connect teleoperator before robot to avoid watchdog jump
lerobot-record connected the robot before the teleoperator. A robot's
connect()/reset() can leave it holding a default pose under a firmware
watchdog (e.g. Unitree G1); if teleop.connect() (model loading, IK init,
network setup) then takes longer than that watchdog, the joints drop to
damping and the first send_action() makes the robot jump.
Swap the order so the teleoperator connects first, matching the ordering
already used in lerobot_teleoperate.py. Pure ordering fix, no API change.
Fixes#3684
* fix(record): trim comment and add connect-order regression test
Address review feedback on #3684:
- Trim the verbose ordering comment down to two lines.
- Add test_record_connects_teleop_before_robot to tests/test_control_robot.py,
asserting teleop.connect() runs before robot.connect() in record().
* chore(test): remove test
---------
Co-authored-by: Jaimin Patel <jpatel@tuvalabs.com>
Co-authored-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
* fix(scripts/eval): restore policy training mode after eval_policy()
`eval_policy` calls `policy.eval()` before the rollout but never restores
the prior mode on return. When called from the training loop
(`lerobot_train.py`'s `eval_policy_all -> run_one -> eval_one ->
eval_policy` chain), the policy is left in eval mode for every subsequent
training step, which silently:
* disables Dropout (no regularisation),
* freezes BatchNorm running stats (no further EMA updates).
Under DDP only `is_main_process` runs eval (lerobot_train.py:527), so the
main rank ends up in eval mode while workers stay in train mode — the
all-reduced gradients then combine forward passes computed with different
dropout masks and different BN behaviour, a real DDP-correctness issue.
Scope of impact:
* Affects every policy with Dropout in its forward path. In-tree, that
includes the default ACT (6 Dropout layers at p=0.1), Diffusion (vision
backbone), VQ-BeT, Multi-Task DiT, X-VLA, plus all VLA policies that
inherit Dropout from their pretrained HF backbone (PI0/PI0.5/PI0-FAST,
SmolVLA, GR00T-N1.5, EO1, Wall-X).
* Triggers from the first eval onward. On the default config
(steps=100k, eval_freq=20k) that's 80% of training; on the LIBERO /
RoboCasa / VLABench example commands in docs/ (eval_freq=1k–5k)
it's 95–99% of training.
* Policies using only LayerNorm/GroupNorm and no Dropout (TDMPC, RTC)
are unaffected. Policies using `FrozenBatchNorm2d` (ACT's ResNet
backbone) are immune to the BN-stat half; the Dropout half still bites.
Fix:
* Snapshot `policy.training` on entry to `eval_policy`.
* Restore it on normal return.
* Save-and-restore is a strict no-op for callers that pass an
already-eval-mode policy (e.g. the standalone `lerobot-eval` script
loading a frozen checkpoint).
* Restoration is placed before the normal return only, not in a
try/finally — exception paths leave the policy in eval mode, same as
today. A try/finally upgrade would require re-indenting ~165 lines and
can land as a separate cleanup if desired.
Tests (tests/scripts/test_eval.py, 7 tests total, ~1.6s):
* Regression gates on the lerobot_eval fix itself: training-mode
preservation, eval-mode preservation, dropout-active behavioural
check, non-crash for both entry modes.
* Quantitative mechanism demonstration
(`test_missing_mode_restoration_hurts_generalisation`): trains a tiny
Dropout+BatchNorm MLP under both the bug pattern and the fix pattern
on identical data and seed, then asserts the buggy variant generalises
at least 5% worse on a held-out val set. In repeated runs we see
10-25% deltas on this toy problem; real policies (more layers, more
Dropout, longer training) generally see larger gaps. Lives alongside
the regression tests so the empirical proof is reproducible from the
repo without adding a separate benchmarks/ directory.
* fix(scripts): keep policy train/eval
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Co-authored-by: ModeEric <ericjm4@illinois.edu>
* (depth image processing): excluding depth frames from the RGB to BGR image processing
* test(update): updating tests to include RGB/BGR conversion checks
* fix(deps): bump diffusers cap to <0.39.0 (security)
Diffusers 0.35.x is affected by GHSA-98h9-4798-4q5v (HIGH, CVSS 8.8):
'trust_remote_code bypass via custom_pipeline and local custom components'.
Fixed in diffusers 0.38.0.
Current cap 'diffusers<0.36.0' blocks downstream consumers (e.g.
strands-labs/robots) from picking up the security fix.
The lerobot diffusers surface area is narrow and stable across 0.36-0.38:
- diffusers.schedulers.scheduling_ddim.DDIMScheduler
- diffusers.schedulers.scheduling_ddpm.DDPMScheduler
- diffusers.optimization.get_scheduler
- diffusers.ConfigMixin / ModelMixin / register_to_config
- diffusers.models.attention.{Attention,FeedForward}
- diffusers.models.embeddings.*
None of these were removed, renamed, or had breaking changes in 0.36, 0.37,
or 0.38 release notes. Bumping the cap to <0.39.0 unblocks the security
fix while keeping a major-version safety bound.
* chore(dependecies): bump diffusers
* chore(deps): update uv.lock
---------
Co-authored-by: Cagatay Cali <cagataycali@users.noreply.github.com>
* Make SO follower P coefficient configurable
* chore(test): minimize tests
* feat(robots): expose PID coeff in SO arms
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Co-authored-by: taivu1998 <46636857+taivu1998@users.noreply.github.com>
* chore(agents): adding additional infos to AGENTS.md
* adding `lerobot-train` requirement inside PR checklist
* prefer using code already implemented from transformers / diffusers instead of re-implementing in tree
---------
Signed-off-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
* fix(envs): set LiberoEnvConfig.fps default to 20 to match robosuite
LiberoEnvConfig.fps was set to 30, but the underlying robosuite
OffScreenRenderEnv always runs at its default control_freq of 20 Hz
since fps is never passed through. This mismatch silently decouples
the dataset/eval loop rate from the actual simulation step rate.
Set the default to 20 to match the real sim rate and avoid the
footgun.
Fixes#3368
* fix(libero): apply configured control frequency
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Co-authored-by: xinmotlanthua <275663218+xinmotlanthua@users.noreply.github.com>
* fix(damiao): make is_calibrated a plain property, not cached
`is_calibrated` was a `@cached_property`, so it froze at its first-read
value and never reflected later changes to `self.calibration` (set by
connect/calibrate/load). This caused the OpenArm teleop to re-run
calibration even when a calibration file existed, and to skip
`set_zero_position()` after a fresh calibration.
Switch to `@property` (matching the MotorsBus base contract and the
Feetech/SO-100 buses) and drop the now-unused `functools.cached_property`
import.
Co-authored-by: Cursor <cursoragent@cursor.com>
* don't set_zero_position() on connect
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Co-authored-by: Cursor <cursoragent@cursor.com>
Pepijn