mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-20 08:21:50 +00:00
Steven Palma
ca87ccd941
* 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>
59 lines
2.1 KiB
Python
59 lines
2.1 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Relative-action helpers for Real-Time Chunking (RTC)."""
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from __future__ import annotations
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import torch
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from lerobot.processor import (
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NormalizerProcessorStep,
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RelativeActionsProcessorStep,
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TransitionKey,
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create_transition,
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to_relative_actions,
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)
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def reanchor_relative_rtc_prefix(
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prev_actions_absolute: torch.Tensor,
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current_state: torch.Tensor,
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relative_step: RelativeActionsProcessorStep,
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normalizer_step: NormalizerProcessorStep | None,
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policy_device: torch.device | str,
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) -> torch.Tensor:
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"""Convert absolute leftover actions into model-space for relative-action RTC policies.
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When using relative actions, the RTC prefix (previous chunk's unexecuted tail)
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is stored in absolute coordinates. Before feeding it back to the policy, this
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helper re-expresses those actions relative to the robot's current joint state
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and optionally normalizes them so the policy receives correctly scaled inputs.
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"""
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state = current_state.detach().cpu()
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if state.dim() == 1:
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state = state.unsqueeze(0)
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action_cpu = prev_actions_absolute.detach().cpu()
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mask = relative_step._build_mask(action_cpu.shape[-1])
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relative_actions = to_relative_actions(action_cpu, state, mask)
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transition = create_transition(action=relative_actions)
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if normalizer_step is not None:
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transition = normalizer_step(transition)
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return transition[TransitionKey.ACTION].to(policy_device)
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