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2f34d8429843ca1f8e60f1d4b048f70a67ecca4e
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260 Commits

Author SHA1 Message Date
Michel Aractingi
2f34d84298 Optimized the replay buffer from the memory side to store data on cpu instead of a gpu device and send the batches to the gpu. 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
61b0e9539f nit 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
23c6b891a3 removed uncomment in actor server 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
0847b2119b Changed the init_final value to center the starting mean and std of the policy 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
24fb8a7f47 Changed bounds for a new so100 robot 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
eb7e28d9d9 Hardcoded some normalization parameters. TODO refactor 
Added masking actions on the level of the intervention actions and offline dataset

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
a0e0a9a9b1 fix log_alpha in modeling_sac: change to nn.parameter 
added pretrained vision model in policy

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
57e09828ce Added logging for interventions to monitor the rate of interventions through time 
Added an s keyboard command to force success in the case the reward classifier fails

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
9c14830cd9 Added possiblity to record and replay delta actions during teleoperation rather than absolute actions 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Yoel
4057904238 [PORT-Hilserl] classifier fixes (#695) 
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
c623824139 - Added JointMaskingActionSpace wrapper in gym_manipulator in order to select which joints will be controlled. For example, we can disable the gripper actions for some tasks. 
- Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop.
- changed the non-blocking in the `.to(device)` functions to only work for the case of cuda because they were causing nans when running the policy on mps
- Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
f4f5b26a21 Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment. 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Eugene Mironov
434d1e0614 [HIL-SERL port] Add Reward classifier benchmark tracking to chose best visual encoder (#688) 2025-03-28 17:18:24 +00:00
Michel Aractingi
729b4ed697 - Added lerobot/scripts/server/gym_manipulator.py that contains all the necessary wrappers to run a gym-style env around the real robot. 
- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
163bcbcad4 fixed bug in crop_dataset_roi.py 
added missing buffer.pt in server dir

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
875662f16b Added additional wrappers for the environment: Action repeat, keyboard interface, reset wrapper 
Tested the reset mechanism and keyboard interface and the convert wrapper on the robots.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
87c7eca582 Added crop_dataset_roi.py that allows you to load a lerobotdataset -> crop its images -> create a new lerobot dataset with the cropped and resized images. 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
179ee3b1f6 - Added base gym env class for the real robot environment. 
- Added several wrappers around the base gym env robot class.
- Including: time limit, reward classifier, crop images, preprocess observations.
- Added an interactive script crop_roi.py where the user can interactively select the roi in the observation images and return the correct crop values that will improve the policy and reward classifier performance.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
b29401e4e2 - Refactor observation encoder in modeling_sac.py 
- added `torch.compile` to the actor and learner servers.
- organized imports in `train_sac.py`
- optimized the parameters push by not sending the frozen pre-trained encoder.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
c620b0878f Cleaned learner_server.py. Added several block function to improve readability. 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
2023289ce8 Added support for checkpointing the policy. We can save and load the policy state dict, optimizers state, optimization step and interaction step 
Added functions for converting the replay buffer from and to LeRobotDataset. When we want to save the replay buffer, we convert it first to LeRobotDataset format and save it locally and vice-versa.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
9afd093030 Removed unnecessary time.sleep in the streaming server on the learner side 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
18207d995e - Added additional logging information in wandb around the timings of the policy loop and optimization loop. 
- Optimized critic design that improves the performance of the learner loop by a factor of 2
- Cleaned the code and fixed style issues

- Completed the config with actor_learner_config field that contains host-ip and port elemnts that are necessary for the actor-learner servers.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
a0a81c0c12 FREEDOM, added back the optimization loop code in learner_server.py 
Ran experiment with pushcube env from maniskill. The learning seem to work.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
Michel Aractingi
ef64ba91d9 Added server directory in lerobot/scripts that contains scripts and the protobuf message types to split training into two processes, acting and learning. The actor rollouts the policy and collects interaction data while the learner recieves the data, trains the policy and sends the updated parameters to the actor. The two scripts are ran simultaneously 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-03-28 17:18:24 +00:00
AdilZouitine
83dc00683c Stable version of rlpd + drq 2025-03-28 17:18:24 +00:00
Adil Zouitine
4b78ab2789 Change SAC policy implementation with configuration and modeling classes 2025-03-28 17:18:24 +00:00
Adil Zouitine
bd8c768f62 SAC works 2025-03-28 17:18:24 +00:00
Adil Zouitine
921ed960fb Add rlpd tricks 2025-03-28 17:18:24 +00:00
Adil Zouitine
67b64e445b SAC works 2025-03-28 17:18:24 +00:00
Adil Zouitine
b495b19a6a [WIP] correct sac implementation 2025-03-28 17:18:24 +00:00
Michel Aractingi
6139df553d Extend reward classifier for multiple camera views (#626) 2025-03-28 17:18:24 +00:00
Eugene Mironov
b68730474a [Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-03-28 17:18:24 +00:00
Michel Aractingi
80b86e9bc3 Added normalization schemes and style checks 2025-03-28 17:18:24 +00:00
Michel Aractingi
399f834788 Update lerobot/scripts/train_hilserl_classifier.py 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2025-03-28 17:18:24 +00:00
Eugene Mironov
df57d372d6 Fixup 2025-03-28 17:18:24 +00:00
Michel Aractingi
76234b7d14 Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2025-03-28 17:18:24 +00:00
Yoel
58cc445921 Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-03-28 17:18:24 +00:00
Steven Palma
a6015a55f9 chore(scripts): remove deprecated script (#887) 2025-03-23 01:16:50 +01:00
Ermano Arruda
c37b1d45b6 parametrise tolerance_s in visualize_dataset scripts (#716) 2025-03-13 10:28:29 +01:00
Steven Palma
5e9473806c refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Harsimrat Sandhawalia
10706ed753 Support for discrete actions (#810) 2025-03-06 10:27:29 +01:00
Steven Palma
5d24ce3160 chore(doc): add license header to all files (#818) 2025-03-05 17:56:51 +01:00
Mishig
a27411022d [visualization] Ignore 2d or 3d data for now (#809) 2025-03-04 10:53:01 +01:00
Simon Alibert
8861546ad8 [Security] Add Bandit (#795) 2025-03-01 19:19:26 +01:00
Mishig
800c4a847f [Vizualisation] independent column names (#783) 2025-02-27 14:47:18 +01:00
Simon Alibert
a1809ad3de Add typos checks (#770) 2025-02-25 23:51:15 +01:00
Jannik Grothusen
8699a28be0 [QOL] Enable teleoperation during environment reset (#725) 2025-02-25 19:28:26 +01:00
Simon Alibert
3354d919fc LeRobotDataset v2.1 (#711) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2025-02-25 15:27:29 +01:00
Pepijn
aca464ca72 Add mobile so100 (#724) 2025-02-25 09:06:50 +01:00