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
Generating the documentation
To generate the documentation, you first have to build it. Several packages are necessary to build the doc, you can install them with the following command, at the root of the code repository:
pip install -e . -r docs-requirements.txt
You will also need nodejs. Please refer to their installation page
NOTE
You only need to generate the documentation to inspect it locally (if you're planning changes and want to
check how they look before committing for instance). You don't have to git commit the built documentation.
Building the documentation
Once you have setup the doc-builder and additional packages, you can generate the documentation by
typing the following command:
doc-builder build lerobot docs/source/ --build_dir ~/tmp/test-build
You can adapt the --build_dir to set any temporary folder that you prefer. This command will create it and generate
the MDX files that will be rendered as the documentation on the main website. You can inspect them in your favorite
Markdown editor.
Previewing the documentation
To preview the docs, first install the watchdog module with:
pip install watchdog
Then run the following command:
doc-builder preview lerobot docs/source/
The docs will be viewable at http://localhost:3000. You can also preview the docs once you have opened a PR. You will see a bot add a comment to a link where the documentation with your changes lives.
NOTE
The preview command only works with existing doc files. When you add a completely new file, you need to update _toctree.yml & restart preview command (ctrl-c to stop it & call doc-builder preview ... again).
Adding a new element to the navigation bar
Accepted files are Markdown (.md).
Create a file with its extension and put it in the source directory. You can then link it to the toc-tree by putting
the filename without the extension in the _toctree.yml file.
Renaming section headers and moving sections
It helps to keep the old links working when renaming the section header and/or moving sections from one document to another. This is because the old links are likely to be used in Issues, Forums, and Social media and it'd make for a much more superior user experience if users reading those months later could still easily navigate to the originally intended information.
Therefore, we simply keep a little map of moved sections at the end of the document where the original section was. The key is to preserve the original anchor.
So if you renamed a section from: "Section A" to "Section B", then you can add at the end of the file:
Sections that were moved:
[ <a href="#section-b">Section A</a><a id="section-a"></a> ]
and of course, if you moved it to another file, then:
Sections that were moved:
[ <a href="../new-file#section-b">Section A</a><a id="section-a"></a> ]
Use the relative style to link to the new file so that the versioned docs continue to work.
For an example of a rich moved sections set please see the very end of the transformers Trainer doc.
Adding a new tutorial
Adding a new tutorial or section is done in two steps:
- Add a new file under
./source. This file can either be ReStructuredText (.rst) or Markdown (.md). - Link that file in
./source/_toctree.ymlon the correct toc-tree.
Make sure to put your new file under the proper section. If you have a doubt, feel free to ask in a Github Issue or PR.
Writing source documentation
Values that should be put in code should either be surrounded by backticks: `like so`. Note that argument names
and objects like True, None or any strings should usually be put in code.
Writing a multi-line code block
Multi-line code blocks can be useful for displaying examples. They are done between two lines of three backticks as usual in Markdown:
```
# first line of code
# second line
# etc
```
Adding an image
Due to the rapidly growing repository, it is important to make sure that no files that would significantly weigh down the repository are added. This includes images, videos, and other non-text files. We prefer to leverage a hf.co hosted dataset like
the ones hosted on hf-internal-testing in which to place these files and reference
them by URL. We recommend putting them in the following dataset: huggingface/documentation-images.
If an external contribution, feel free to add the images to your PR and ask a Hugging Face member to migrate your images
to this dataset.