Remove warnings #111

aliberts · 2024-04-27T15:57:57Z

Remove warnings

Progress: Done ✅ (0 down from 117 warnings)

UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and may be removed in the future. The current behavior is equivalent to passing `weights=ResNet18_Weights.IMAGENET1K_V1`. You can also use `weights=ResNet18_Weights.DEFAULT` to get the most up-to-date weights.

Replace use_pretrained_backbone (bool) with pretrained_backbone_weights (str | None) in ACT and Diffusion configs in order to use the weights parameter instead of the deprecated pretrained parameter when initializing those backbones. Solves Handle torchvision deprecation warning #78.

/opt/homebrew/Caskroom/miniconda/base/envs/lerobot/lib/python3.10/site-packages/diffusers/utils/outputs.py:63: UserWarning: torch.utils._pytree._register_pytree_node is deprecated. Please use torch.utils._pytree.register_pytree_node instead.
  torch.utils._pytree._register_pytree_node(

After digging a bit, it look like this warning is triggered simply by this import from diffusers.schedulers.scheduling_ddpm import DDPMScheduler so this has more to do with diffusers. @alexander-soare I saw your TODO comment Remove reliance on diffusers for DDPMScheduler and LR scheduler, so I guess this would solve this?
EDIT: Fix deprecation warning for torch.utils._pytree._register_pytree_node in PyTorch 2.2 diffusers#7008 actually solves this, I've bumped diffusers' minimum version 0.26.3 -> 0.27.2

DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html

I've seen this one being triggered in different places. It's raised because some packages in our dependencies still use pkg_ressources. Therefore, we can only silent those until those libraries fix it themselves.
- pygame in gym-pusht: I've pushed a fix to silent it Remove "pkg_resources deprecated" warning gym-pusht#7
- imageio.mimsave: a fix has recently been pushed to imageio-ffmpeg but it hasn't made its way into a release yet so I guess we'll just have to wait. In the meantime, I've pushed a fix to silence it. This one doesn't appear in the CI for some reason but it does in my local tests.

UserWarning: This DataLoader will create 4 worker processes in total. Our suggested max number of worker in current system is 2, which is smaller than what this DataLoader is going to create. Please be aware that excessive worker creation might get DataLoader running slow or even freeze, lower the worker number to avoid potential slowness/freeze if necessary.

These warnings appear in multiple places where num_worker is hardcoded as e.g. 4, 8. After discussing this with @Cadene, since we don't want to change those values or set them dynamically in the code, I've added a -W ignore::UserWarning:torch.utils.data.dataloader:558 flag in the CI's pytest command.

UserWarning: WARN: A Box observation space minimum value is -/+infinity. This is probably too low/high.

Fixed in Remove warnings gym-xarm#5
Fixed in Remove Box observation space warnings gym-aloha#1

DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.)

Fixed in Remove warnings gym-xarm#5

UserWarning: WARN: For Box action spaces, we recommend using a symmetric and normalized space (range=[-1, 1] or [0, 1]). See https://stable-baselines3.readthedocs.io/en/master/guide/rl_tips.html for more information.

As discussed with @Cadene, we apply normalization in the policies rather than in the environments. As this is a deliberate design choice, we can safely disable those warnings.
I've added a -W ignore::UserWarning:gymnasium.utils.env_checker:247 flag in the CI's pytest command.

UserWarning: 
  The version_base parameter is not specified.
  Please specify a compatability version level, or None.
  Will assume defaults for version 1.1

Set version_base="1.2" in Hydra initializations

/home/runner/work/lerobot/lerobot/.venv/lib/python3.10/site-packages/einops/einops.py:827: DeprecationWarning: invalid escape sequence '\s'

Upgraded min einops version from 0.7.0 -> 0.8.0

This reverts commit ad6009d.

This reverts commit 37d910e.

Cadene

Thanks!!! LGTM. Left a few comments/suggestions. Feel free to ignore.

Cadene · 2024-04-28T17:42:26Z

lerobot/common/utils/io_utils.py

+import warnings
+
+import imageio
+
+
+def write_video(video_path, stacked_frames, fps):
+    # Filter out DeprecationWarnings raised from pkg_resources
+    with warnings.catch_warnings():
+        warnings.filterwarnings(
+            "ignore", "pkg_resources is deprecated as an API", category=DeprecationWarning
+        )
+        imageio.mimsave(video_path, stacked_frames, fps=fps)


Should we rename io_utils.py to io.py ?

I did this in a previous python project and it's okay until you need to import io from the standard library. It's confusing so I wouldn't recommend it.

Cadene · 2024-04-28T17:46:25Z

lerobot/common/utils/io_utils.py

+def write_video(video_path, stacked_frames, fps):
+    # Filter out DeprecationWarnings raised from pkg_resources
+    with warnings.catch_warnings():
+        warnings.filterwarnings(
+            "ignore", "pkg_resources is deprecated as an API", category=DeprecationWarning
+        )
+        imageio.mimsave(video_path, stacked_frames, fps=fps)


Out of curiosity, why cant we use imageio as an API without warning?

What are the alternatives to generate an mp4 from a numpy array?

I'm not sure to understand. To be clear, the problem here with imageio.mimsave is that it calls pkg_resources at some point down the line (in imageio-ffmpeg actually), which raises this warning. As mentioned before, a fix has been pushed on their main but it hasn't made its way to a release yet so we just have to handle it on our side until then.

examples/1_load_lerobot_dataset.py

- Replace `use_pretrained_backbone` with `pretrained_backbone_weights` - Bump diffusers' minimum version `0.26.3` -> `0.27.2` - Add ignore flags in CI's pytest - Change Box observation spaces in simulation environments - Set `version_base="1.2"` in Hydra initializations - Bump einops' minimum version `0.7.0` -> `0.8.0`

aliberts self-assigned this Apr 27, 2024

aliberts linked an issue Apr 27, 2024 that may be closed by this pull request

Handle torchvision deprecation warning #78

Closed

aliberts added the refactor Code cleanup or restructuring without changing behavior label Apr 27, 2024

Cadene requested review from alexander-soare and Cadene April 27, 2024 16:59

aliberts added 14 commits April 28, 2024 19:02

use_pretrained_backbone -> pretrained_backbone_weights

7a9a6ae

silent pkg_resources deprecated from imageio

56522ae

poetry update gym-pusht

448e854

Try num_worker=2

2dfb538

Revert "Try num_worker=2"

4605477

This reverts commit ad6009d.

Add --disable-data-loader-warning

d12d6e8

Revert "Add --disable-data-loader-warning"

f66536e

This reverts commit 37d910e.

Filter dataload warnings

f3aede9

poetry update gym-xarm

e1550eb

Suppress Box action space warnings

7aecd29

Update gym-aloha

0418a8a

Set Hydra version_base

2fdd211

Upgrade version_base to 1.2

135ba53

Upgrade min einops version 0.7.0 -> 0.8.0

07264ce

aliberts force-pushed the user/aliberts/2024_04_27_remove_warnings branch from 1c89995 to 07264ce Compare April 28, 2024 17:05

aliberts added 3 commits April 28, 2024 19:19

Update diffusers min version 0.26.3 -> 0.27.2

afa14ea

Try fixing disk space error on runner

67e5431

Better disk cleanup

48dc35c

aliberts marked this pull request as ready for review April 28, 2024 17:40

Cadene approved these changes Apr 28, 2024

View reviewed changes

Revert write_video and add DeprecationWarning ignore flag

cc8d689

aliberts merged commit 791506d into main Apr 28, 2024
2 checks passed

aliberts deleted the user/aliberts/2024_04_27_remove_warnings branch April 28, 2024 22:31

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Remove warnings #111

Remove warnings #111

aliberts commented Apr 27, 2024 •

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Cadene Apr 28, 2024

aliberts Apr 28, 2024 •

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Remove warnings #111

Remove warnings #111

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aliberts commented Apr 27, 2024 • edited Loading

Remove warnings

Progress: Done ✅ (0 down from 117 warnings)

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