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Fix missing local_files_only in record/replay #540

Merged
merged 3 commits into from
Dec 3, 2024
Merged

Fix missing local_files_only in record/replay #540

merged 3 commits into from
Dec 3, 2024

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Cadene
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@Cadene Cadene commented Dec 2, 2024

What this does

  • Add --local-files-only for record/replay

How it was tested + How to checkout & try?

  1. Recorded 2 episodes without pushing on the hub
python lerobot/scripts/control_robot.py record \
  --robot-path lerobot/configs/robot/so100.yaml \
  --fps 30 \
  --repo-id cadene/so100_5_lego_test \
  --num-episodes 2 \
  --warmup-time-s 5 \
  --episode-time-s 60 \
  --reset-time-s 30 \
  --single-task "Pick up the lego blocks and put them in the box on the right side of the robot." \
  --push-to-hub 0
  1. Resumed recording and record 1 more episode:
python lerobot/scripts/control_robot.py record \
  --robot-path lerobot/configs/robot/so100.yaml \
  --fps 30 \
  --repo-id cadene/so100_5_lego_test \
  --num-episodes 1 \
  --warmup-time-s 1 \
  --episode-time-s 60 \
  --reset-time-s 30 \
  --single-task "Pick up the lego blocks and put them in the box on the right side of the robot." \
  --resume 1 \
  --local-files-only 1
  1. Visualized the dataset offline.
python lerobot/scripts/visualize_dataset_html.py     \
--repo-id cadene/so100_5_lego_test     \
--local-files-only 1

@Cadene Cadene requested a review from aliberts December 2, 2024 17:00
@Cadene Cadene added the bug Something isn’t working correctly label Dec 2, 2024
@Cadene Cadene marked this pull request as ready for review December 2, 2024 17:00
aliberts
aliberts requested changes Dec 3, 2024
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Thanks for this fix!
Tests are failing, can you add this change in tests/test_control_robot.py::test_record_and_replay_and_policy?

- replay(robot, episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False)
+ replay(robot, episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False, local_files_only=True)

Also, end-to-end tests are failing but this is because they are downloading full datasets from the hub each time and we're capping out the github runners capacities. We should disable them until we fix this.

aliberts
aliberts approved these changes Dec 3, 2024
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LGTM

@Cadene Cadene merged commit 286bca3 into main Dec 3, 2024
6 checks passed
@Cadene Cadene deleted the user/rcadene/2024_12_02_fix_resume_record branch December 3, 2024 09:53
helper2424 pushed a commit to helper2424/lerobot that referenced this pull request Dec 17, 2024
@Cadene @aliberts @helper2424
Fix missing local_files_only in record/replay (huggingface#540)
1612e00 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
villekuosmanen added a commit to villekuosmanen/lerobot that referenced this pull request Dec 30, 2024
@villekuosmanen @HiroIshida
@alexander-soare @ohharsen @ivelin @brainwavecoder9 @resolver101757 @J4nn1K @KasparSLT @aliberts @Cadene @michel-aractingi @ma3oun @Raziel90 @s1lent4gnt @mishig25 @helper2424
chore: sync fork with upstream (#3)
913bcab 
* feat: enable to use multiple rgb encoders per camera in diffusion policy (huggingface#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

* Fix config file (huggingface#495)

* fix: broken images and a few minor typos in README (huggingface#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

* Add support for Windows (huggingface#494)

* bug causes error uploading to huggingface, unicode issue on windows. (huggingface#450)

* Add distinction between two unallowed cases in name check "eval_" (huggingface#489)

* Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490)

* Dataset v2.0 (huggingface#461)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Refactor OpenX (huggingface#505)

* Fix missing local_files_only in record/replay (huggingface#540)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

* Control simulated robot with real leader (huggingface#514)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Update 7_get_started_with_real_robot.md (huggingface#559)

* LerobotDataset pushable to HF from any folder (huggingface#563)

* Fix example 6 (huggingface#572)

* fixing typo from 'teloperation' to 'teleoperation' (huggingface#566)

* [vizualizer] for LeRobodDataset V2 (huggingface#576)

* Fix broken `create_lerobot_dataset_card`  (huggingface#590)

* feat(act): support training end of episode token to ACT model

* changes

* feat(arx): add arx arm (#2)

* feat(arx): support arx arm

* changes

* changes

* changes

* changes

* pass pipes explicitly

* changes

* us ndarray over a pipe

* changes

* changes

* replay basically works

* patch arx sdk

* changes

* support cameras in arx5

* rename to arx5

* kind of works

* changes

* changes

* changes

* various changes

* changes

* revert a few changes

* changes

* changes

* changes

* changes

* changes

* changes

* changes

* changes

* changes

* remove TODO

* allow multiple tasks

---------

Signed-off-by: ivelin <ivelin117@gmail.com>
Co-authored-by: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Arsen Ohanyan <arsenohanyan@gmail.com>
Co-authored-by: Ivelin Ivanov <ivelin117@gmail.com>
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: KasparSLT <133706781+KasparSLT@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: berjaoui <berjaoui@gmail.com>
Co-authored-by: Claudio Coppola <Claudiocoppola90@gmail.com>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Mishig <dmishig@gmail.com>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
villekuosmanen added a commit to villekuosmanen/lerobot that referenced this pull request Jan 10, 2025
@villekuosmanen @HiroIshida
@alexander-soare @ohharsen @ivelin @brainwavecoder9 @resolver101757 @J4nn1K @KasparSLT @aliberts @Cadene @michel-aractingi @ma3oun @Raziel90 @s1lent4gnt @mishig25 @helper2424 @CharlesCNorton @philfung
feat: sync upstream changes (#4)
9e38286 
* feat: enable to use multiple rgb encoders per camera in diffusion policy (huggingface#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

* Fix config file (huggingface#495)

* fix: broken images and a few minor typos in README (huggingface#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

* Add support for Windows (huggingface#494)

* bug causes error uploading to huggingface, unicode issue on windows. (huggingface#450)

* Add distinction between two unallowed cases in name check "eval_" (huggingface#489)

* Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490)

* Dataset v2.0 (huggingface#461)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Refactor OpenX (huggingface#505)

* Fix missing local_files_only in record/replay (huggingface#540)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

* Control simulated robot with real leader (huggingface#514)

Co-authored-by: Remi <remi.cadene@huggingface.co>

* Update 7_get_started_with_real_robot.md (huggingface#559)

* LerobotDataset pushable to HF from any folder (huggingface#563)

* Fix example 6 (huggingface#572)

* fixing typo from 'teloperation' to 'teleoperation' (huggingface#566)

* [vizualizer] for LeRobodDataset V2 (huggingface#576)

* Fix broken `create_lerobot_dataset_card`  (huggingface#590)

* Update README.md (huggingface#612)

* Fix Quality workflow (huggingface#622)

* fix(docs): typos in benchmark readme.md (huggingface#614)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* fix(visualise): use correct language description for each episode id (huggingface#604)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* typo fix: batch_convert_dataset_v1_to_v2.py (huggingface#615)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

* [viz] Fixes & updates to html visualizer (huggingface#617)

* fixes to SO-100 readme (huggingface#600)

Co-authored-by: Philip Fung <no@one>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

---------

Signed-off-by: ivelin <ivelin117@gmail.com>
Co-authored-by: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
Co-authored-by: Arsen Ohanyan <arsenohanyan@gmail.com>
Co-authored-by: Ivelin Ivanov <ivelin117@gmail.com>
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: KasparSLT <133706781+KasparSLT@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: berjaoui <berjaoui@gmail.com>
Co-authored-by: Claudio Coppola <Claudiocoppola90@gmail.com>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Mishig <dmishig@gmail.com>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
Co-authored-by: CharlesCNorton <135471798+CharlesCNorton@users.noreply.github.com>
Co-authored-by: Philip Fung <1054593+philfung@users.noreply.github.com>
Co-authored-by: Philip Fung <no@one>
michel-aractingi pushed a commit that referenced this pull request Jan 22, 2025
@Cadene @aliberts @michel-aractingi
Fix missing local_files_only in record/replay (#540)
96b2b62 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
menhguin pushed a commit to menhguin/lerobot that referenced this pull request Feb 9, 2025
@Cadene @aliberts
Fix missing local_files_only in record/replay (huggingface#540)
9371c75 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
aliberts pushed a commit that referenced this pull request Feb 9, 2025
@Cadene @aliberts
Fix autocalib moss (#486)
5ceb342 
[Fix] Move back to manual calibration (#488)

feat: enable to use multiple rgb encoders per camera in diffusion policy (#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Fix config file (#495)

fix: broken images and a few minor typos in README (#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

Add support for Windows (#494)

bug causes error uploading to huggingface, unicode issue on windows. (#450)

Add distinction between two unallowed cases in name check "eval_" (#489)

WIP

Fix autocalib moss (#486)

[Fix] Move back to manual calibration (#488)

feat: enable to use multiple rgb encoders per camera in diffusion policy (#484)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Fix config file (#495)

fix: broken images and a few minor typos in README (#499)

Signed-off-by: ivelin <ivelin117@gmail.com>

Add support for Windows (#494)

bug causes error uploading to huggingface, unicode issue on windows. (#450)

Add distinction between two unallowed cases in name check "eval_" (#489)

Rename deprecated argument (temporal_ensemble_momentum) (#490)

Dataset v2.0 (#461)

Co-authored-by: Remi <remi.cadene@huggingface.co>

Refactor OpenX (#505)

Fix missing local_files_only in record/replay (#540)

Co-authored-by: Simon Alibert <alibert.sim@gmail.com>

Control simulated robot with real leader (#514)

Co-authored-by: Remi <remi.cadene@huggingface.co>

Update 7_get_started_with_real_robot.md (#559)

LerobotDataset pushable to HF from any folder (#563)

Fix example 6 (#572)

fixing typo from 'teloperation' to 'teleoperation' (#566)

[vizualizer] for LeRobodDataset V2 (#576)

Fix broken `create_lerobot_dataset_card`  (#590)

Update README.md (#612)

Add draccus, create MainConfig

WIP refactor train.py and ACT

Add policies training presets

Update diffusion policy

Add pusht and xarm env configs

Update tdmpc

Update vqbet

Fix poetry relax

Add feature types to envs

Add EvalPipelineConfig, parse features from envs

Add custom parser

Update pretrained loading mechanisms

Add dependency fixes & lock update

Fix pretrained_path

Refactor envs, remove RealEnv

Fix typo

Enable end-to-end tests

Fix Makefile

Log eval config

Fix end-to-end tests

Fix Quality workflow (#622)

Remove amp & add resume test

Speed-up tests

Fix poetry relax

Remove config yaml for robot devices (#594)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

fix(docs): typos in benchmark readme.md (#614)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

fix(visualise): use correct language description for each episode id (#604)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

typo fix: batch_convert_dataset_v1_to_v2.py (#615)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

[viz] Fixes & updates to html visualizer (#617)

Fix logger

Remove hydra-core

Add aggregate_stats

Add estimate_num_samples for images, Add test image

Remove NoneSchedulerConfig

Add push_pretrained

Remove eval.episode_length

Fix wandb_video

Fix typo

Add features back into policy configs (#643)

fixes to SO-100 readme (#600)

Co-authored-by: Philip Fung <no@one>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Fix for the issue #638 (#639)

Fix env_to_policy_features call

Fix wandb init

remove omegaconf

Add branch arg

Move deprecated

Move training config

Remove pathable_args

Implement custom HubMixin

Fixes

Implement PreTrainedPolicy base class

Add HubMixin to TrainPipelineConfig

Udpate example 2 & 3

Update push_pretrained

Bump`rerun-sdk` dependency to `0.21.0` (#618)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Fix config_class

Fix from_pretrained kwargs

Remove policy_protocol

Camelize PretrainedConfig

Additional fix while retraining policies (#629)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

Actually reactivate tdmpc online test

Update example 4

Remove advanced example 1

Remove example 5

Move example 6 to advanced

Use HubMixin.save_pretrained

Enable config_path to be a repo_id

Dry has_method

Update example 4

Update README

Cleanup pyproject.toml

Update eval docstring

Update README

Clean example 4

Update README

Make 'last' checkpoint symlink relative

Fix cluster image (#653)

Simplify example 4

fix stats per episodes and aggregate stats and casting to tensor
JIy3AHKO pushed a commit to vertix/lerobot that referenced this pull request Feb 27, 2025
@Cadene @aliberts @JIy3AHKO
Fix missing local_files_only in record/replay (huggingface#540)
cf839bd 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
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@Cadene @aliberts