lerobot

lerobot

CONTAINERS IMAGES RUN BUILD

• LeRobot project from https://github.com/huggingface/lerobot/

Usage Examples

Example: Visualize datasets

On Docker host (Jetson native), first launch rerun.io (check the original instruction on lerobot repo)

pip install rerun-sdk
rerun

Then, start the docker container to run the visualization script.

jetson-containers run -w /opt/lerobot $(autotag lerobot) \
  python3 lerobot/scripts/visualize_dataset.py \
    --repo-id lerobot/pusht \
    --episode-index 0

Example: Evaluate a pretrained policy

See the original instruction on lerobot repo.

jetson-containers run -w /opt/lerobot $(autotag lerobot) \
  python3 lerobot/scripts/eval.py \
    -p lerobot/diffusion_pusht \
    eval.n_episodes=10 \
    eval.batch_size=10

Example: Train your own policy

See the original instruction on lerobot repo.

jetson-containers run -w /opt/lerobot $(autotag lerobot) \
  python3 lerobot/scripts/train.py \
    policy=act \
    env=aloha \
    env.task=AlohaInsertion-v0 \
    dataset_repo_id=lerobot/aloha_sim_insertion_human 

CONTAINERS

lerobot
Requires	L4T ['>=36']
Dependencies	build-essential pip_cache:cu122 cuda:12.2 cudnn python numpy cmake onnx pytorch:2.2 torchvision huggingface_hub rust transformers opencv pyav h5py
Dockerfile	Dockerfile
Images	dustynv/lerobot:r36.3.0 (2024-09-12, 7.3GB)

CONTAINER IMAGES

Repository/Tag	Date	Arch	Size
dustynv/lerobot:r36.3.0	2024-09-12	arm64	7.3GB

_{Container images are compatible with other minor versions of JetPack/L4T:
    • L4T R32.7 containers can run on other versions of L4T R32.7 (JetPack 4.6+)
    • L4T R35.x containers can run on other versions of L4T R35.x (JetPack 5.1+)}

RUN CONTAINER

To start the container, you can use jetson-containers run and autotag, or manually put together a docker run command:

# automatically pull or build a compatible container image
jetson-containers run $(autotag lerobot)

# or explicitly specify one of the container images above
jetson-containers run dustynv/lerobot:r36.3.0

# or if using 'docker run' (specify image and mounts/ect)
sudo docker run --runtime nvidia -it --rm --network=host dustynv/lerobot:r36.3.0

^{jetson-containers run forwards arguments to docker run with some defaults added (like --runtime nvidia, mounts a /data cache, and detects devices)
autotag finds a container image that's compatible with your version of JetPack/L4T - either locally, pulled from a registry, or by building it.}

To mount your own directories into the container, use the -v or --volume flags:

jetson-containers run -v /path/on/host:/path/in/container $(autotag lerobot)

To launch the container running a command, as opposed to an interactive shell:

jetson-containers run $(autotag lerobot) my_app --abc xyz

You can pass any options to it that you would to docker run, and it'll print out the full command that it constructs before executing it.

BUILD CONTAINER

If you use autotag as shown above, it'll ask to build the container for you if needed. To manually build it, first do the system setup, then run:

jetson-containers build lerobot

The dependencies from above will be built into the container, and it'll be tested during. Run it with --help for build options.