mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Pepijn
15934d8d08
* Add option for pi family models to train with relative actions (relative to state) * formatting * add recomputation of stats and option to compute delta stats * normalzie after delta conversion * only recompute state for stats * calulate chunk based stats * sample 100k * load from parquet * sample 1m * stats per chunck * fix * use quantiles * stats for entire dataset * fix * max 1m frames * compute before dist * fix multi gpu processor bug * Fix RTC with delta actions and OpenArms motor_type wiring * feat: align pi0_fast delta actions with pi0/pi05 and add RTC integration tests - Add delta_exclude_joints and action_feature_names to PI0FastConfig - Move to_absolute_actions from modeling to processor pipeline for pi0_fast - Add delta action detection and logging to eval_with_real_robot.py - Add delta actions documentation to pi0 and pi05 READMEs - Fix ruff lint issues in test_delta_actions.py - Add test_rtc_delta_actions.py (24 tests) covering: - ActionQueue with delta vs absolute actions - RTC denoise step with delta leftovers - Full pipeline roundtrip (delta → RTC → absolute) - State rebasing approximation bounds - Non-delta policy compatibility - Multi-chunk consistency * chore: clean up test comments, add OpenPI attribution, remove debug logging - Replace decorative comment separators in test files with plain section headers - Add attribution comments for 1e-6 epsilon in normalize_processor.py (from OpenPI) - Remove debug logging blocks from lerobot_train.py * refactor: extract compute_delta_action_stats into compute_stats.py Move the ~70-line inline delta action stats block from lerobot_train.py into a dedicated function in compute_stats.py, where all other stats computation already lives. The training script now calls it in 6 lines. * refactor: remove unused get_processed_left_over from ActionQueue This method was never called outside of tests. Leftover actions for RTC guidance are always retrieved via get_left_over() (delta/original space). * revert: remove logging-only changes from eval_with_real_robot.py The delta actions detection helper and log message added no functional value — the script already handles delta policies correctly via the processor pipeline. * refactor: use ACTION/OBS_STATE constants instead of hardcoded strings Replace hardcoded "action" and "observation.state" with ACTION and OBS_STATE from utils.constants in compute_stats.py, dataset_tools.py, and lerobot_train.py. * style: remove stray blank lines in training loop * refactor: move delta action stats to preprocessing step, remove on-the-fly computation - Remove on-the-fly compute_delta_action_stats from lerobot_train.py - Rewrite recompute_stats to delegate action stats to compute_delta_action_stats (chunk-based sampling matching what the model sees during training) - Add chunk_size parameter to recompute_stats for delta action computation - Add delta actions documentation to pi0.mdx and pi05.mdx * feat: add recompute_stats CLI operation to lerobot-edit-dataset * fix(tests): relax quantile normalization test tolerance for 1e-6 epsilon * chore: remove agents_memory/pr_details.md from repo * refactor: rename delta actions to relative actions throughout What OpenPI calls "DeltaActions" is actually UMI's "relative trajectory" representation: each action in the chunk is an offset from the current state, not from the previous action. This avoids error accumulation. Renamed across all source, tests, docs, and CLI: - DeltaActionsProcessorStep → RelativeActionsProcessorStep - to_delta_actions → to_relative_actions - use_delta_actions → use_relative_actions - delta_exclude_joints → relative_exclude_joints - compute_delta_action_stats → compute_relative_action_stats - delta_action_processor.py → relative_action_processor.py - test_delta_actions.py → test_relative_actions.py Kept as-is: AbsoluteActionsProcessorStep (converts TO absolute), registry ID "delta_actions_processor" (backward compat), and unrelated delta references (IK pipeline, Robosuite, RA-BC metrics, gym envs). * docs: add Action Representations guide Dedicated page explaining absolute, relative, and delta actions with numerical examples, joint vs EE space, and how to use kinematics pipelines and the relative action processor. References UMI paper (Chi et al., 2024) for the terminology. * docs: remove redundant OpenPI naming note from action representations * docs: remove opinionated OpenPI reference from delta actions section * docs: replace ASCII diagram with UMI paper figure * docs: remove OpenPI reference from action representations * docs: use HF-hosted image instead of local asset * docs: clarify figure attribution * revert: restore original normalization epsilon behavior The 1e-6 unconditional epsilon change perturbed all normalized values, breaking backward compatibility tests. The original approach (1e-8 eps for MEAN_STD, conditional torch.where for QUANTILES) already handles division by zero correctly without affecting non-degenerate cases. * fix: restore delta_action_processor.py used by phone/RL teleop The rename commit incorrectly deleted delta_action_processor.py and duplicated its classes into relative_action_processor.py. Restore the original file and import from it instead. * fix(processor): address PR #2970 review comments - Remove shebang from relative_action_processor.py (library module, not script) - Add device alignment in to_relative_actions/to_absolute_actions so _last_state on CPU doesn't cause cross-device errors when actions are on CUDA - Rename delta_step → relative_step in AbsoluteActionsProcessorStep for naming consistency; update factory.py, all processor files, and tests - Expand _reconnect_relative_absolute_steps docstring to explain why post-hoc rewiring is needed after deserialization - Fix off-by-one in compute_stats.py: sample_upper_bound = total_frames - chunk_size + 1 so last valid start index is included and total_frames == chunk_size is not rejected - Remove redundant NOTE comment in processor_pi05.py (duplicated two lines below) - Fix pi0_fast processor ordering: move relative_step before NormalizerProcessorStep so normalizer sees delta actions (matching pi0/pi05); flip postprocessor to unnormalize → absolute accordingly. Relative stats are now required for all pi models - Revert use_relative_joint_actions_aloha → use_delta_joint_actions_aloha in configuration_smolvla.py (preserve existing public API) - Update action_representations.mdx: add missing joint to 6-DOF example, fix 'based on a figure', clarify pi family ordering, add RTC compatibility section * update rtc link * feat: compute relative action stats over full dataset with optional parallelism Remove the 100k sample cap from compute_relative_action_stats and process all valid chunks. Vectorize with numpy (pre-load actions/states, fancy indexing + broadcasting) for a large speedup over the per-index HF dataset loop. Add num_workers param for thread-based parallelism (numpy releases the GIL). Update docs to show --push_to_hub for recompute_stats. * style: apply ruff formatting to compute_stats.py * testing on real robot * style: fix ruff format and remove redundant .keys() calls
141 lines
3.4 KiB
YAML
141 lines
3.4 KiB
YAML
- sections:
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- local: index
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title: LeRobot
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- local: installation
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title: Installation
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title: Get started
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- sections:
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- local: il_robots
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title: Imitation Learning for Robots
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- local: bring_your_own_policies
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title: Bring Your Own Policies
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- local: integrate_hardware
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title: Bring Your Own Hardware
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- local: hilserl
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title: Train a Robot with RL
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- local: hilserl_sim
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title: Train RL in Simulation
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- local: multi_gpu_training
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title: Multi GPU training
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- local: peft_training
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title: Training with PEFT (e.g., LoRA)
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- local: rename_map
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title: Using Rename Map and Empty Cameras
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title: "Tutorials"
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- sections:
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- local: lerobot-dataset-v3
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title: Using LeRobotDataset
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- local: porting_datasets_v3
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title: Porting Large Datasets
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- local: using_dataset_tools
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title: Using the Dataset Tools
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- local: dataset_subtask
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title: Using Subtasks in the Dataset
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- local: streaming_video_encoding
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title: Streaming Video Encoding
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title: "Datasets"
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- sections:
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- local: act
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title: ACT
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- local: smolvla
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title: SmolVLA
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- local: pi0
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title: π₀ (Pi0)
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- local: pi0fast
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title: π₀-FAST (Pi0Fast)
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- local: pi05
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title: π₀.₅ (Pi05)
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- local: groot
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title: NVIDIA GR00T N1.5
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- local: xvla
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title: X-VLA
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- local: multi_task_dit
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title: Multitask DiT Policy
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- local: walloss
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title: WALL-OSS
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title: "Policies"
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- sections:
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- local: sarm
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title: SARM
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title: "Reward Models"
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- sections:
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- local: async
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title: Use Async Inference
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- local: rtc
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title: Real-Time Chunking (RTC)
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title: "Inference"
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- sections:
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- local: envhub
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title: Environments from the Hub
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- local: envhub_leisaac
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title: Control & Train Robots in Sim (LeIsaac)
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- local: envhub_isaaclab_arena
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title: NVIDIA IsaacLab Arena Environments
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- local: libero
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title: Using Libero
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- local: metaworld
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title: Using MetaWorld
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title: "Simulation"
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- sections:
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- local: introduction_processors
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title: Introduction to Robot Processors
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- local: debug_processor_pipeline
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title: Debug your processor pipeline
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- local: implement_your_own_processor
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title: Implement your own processor
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- local: processors_robots_teleop
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title: Processors for Robots and Teleoperators
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- local: env_processor
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title: Environment Processors
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- local: action_representations
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title: Action Representations
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title: "Robot Processors"
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- sections:
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- local: so101
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title: SO-101
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- local: so100
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title: SO-100
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- local: koch
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title: Koch v1.1
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- local: lekiwi
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title: LeKiwi
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- local: hope_jr
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title: Hope Jr
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- local: reachy2
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title: Reachy 2
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- local: unitree_g1
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title: Unitree G1
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- local: earthrover_mini_plus
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title: Earth Rover Mini
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- local: omx
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title: OMX
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- local: openarm
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title: OpenArm
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title: "Robots"
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- sections:
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- local: phone_teleop
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title: Phone
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title: "Teleoperators"
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- sections:
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- local: cameras
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title: Cameras
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title: "Sensors"
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- sections:
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- local: torch_accelerators
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title: PyTorch accelerators
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title: "Supported Hardware"
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- sections:
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- local: notebooks
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title: Notebooks
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- local: feetech
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title: Updating Feetech Firmware
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- local: damiao
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title: Damiao Motors and CAN Bus
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title: "Resources"
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- sections:
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- local: contributing
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title: Contribute to LeRobot
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- local: backwardcomp
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title: Backward compatibility
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title: "About"
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