コンテンツにスキップ

HilSerl 環境構築(#644)

HilSerl公式

https://hil-serl.github.io/

LeRobotでの対応

https://github.com/huggingface/lerobot/pull/644

マニュアル

https://github.com/michel-aractingi/lerobot-hilserl-guide

検証環境

  • RTX5090
  • Ubuntu24.04
  • Anaconda

Anaconda環境の作成

1
2
conda create -y -n lerobot_rl python=3.10
conda activate lerobot_rl

1
conda install ffmpeg -c conda-forge

RTX5090は、CUDA12.8対応なので、nightly buildから展開

1
2
pip install --extra-index-url https://download.pytorch.org/whl/nightly/cu128 \
torch==2.8.0.dev20250603+cu128 torchvision==0.23.0.dev20250603+cu128 torchaudio==2.8.0.dev20250603+cu128

1
pip install triton==2.1.0 --index-url https://download.pytorch.org/whl/nightly/cu128

チェック

1
2
python -c "import torch; print(torch.__version__)"
2.8.0.dev20250603+cu128

1
2
python -c "import torchvision; print(torchvision.__version__)"
0.23.0.dev20250603+cu128

1
2
python -c "import torchaudio; print(torchaudio.__version__)"
2.8.0.dev20250603+cu128

Transformersもインストール

1
conda install -c conda-forge transformers accelerate safetensors

LeRobotをGit clone

1
git clone https://github.com/huggingface/lerobot/ lerobot_rl

1
cd lerobot_rl

1
2
git fetch origin pull/644/head:pr644
git checkout pr644

pyproject.toml

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
dependencies = [
    "cmake>=3.29.0.1",
    "datasets>=2.19.0",
    "deepdiff>=7.0.1",
    "diffusers>=0.27.2",
    "draccus==0.10.0",
    "einops>=0.8.0",
    "flask>=3.0.3",
    "gdown>=5.1.0",
    "gymnasium==0.29.1",                                                 # TODO(rcadene, aliberts): Make gym 1.0.0 work
    "h5py>=3.10.0",
    "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
    "imageio[ffmpeg]>=2.34.0",
    "jsonlines>=4.0.0",
    "numba>=0.59.0",
    "omegaconf>=2.3.0",
    "opencv-python-headless>=4.9.0",
    "packaging>=24.2",
    "av>=14.2.0",
    "pymunk>=6.6.0",
    "pynput>=1.7.7",
    "pyzmq>=26.2.1",
    "rerun-sdk>=0.21.0",
    "termcolor>=2.4.0",
    #"torch>=2.2.1,<2.7",
    #"torchcodec==0.2.1; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')",
    #"torchvision>=0.21.0",
    "wandb>=0.16.3",
    "zarr>=2.17.0",
]

1
pip install -e .[feetech]

1
pip install grpcio grpcio-tools wandb gymnasium mujoco mujoco-py

1
pip install scipy pygame

JoystickのinputをUser groupに追加

1
sudo usermod -aG input $USER

SO-100/101の設定

./lerobot/common/robot_devices/robots/configs.py

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
class So100RobotConfig(ManipulatorRobotConfig):
    calibration_dir: str = ".cache/calibration/so100"
    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    max_relative_target: int | None = None

    leader_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/ttyACM1",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                },
            ),
        }
    )

    follower_arms: dict[str, MotorsBusConfig] = field(
        default_factory=lambda: {
            "main": FeetechMotorsBusConfig(
                port="/dev/ttyACM0",
                motors={
                    # name: (index, model)
                    "shoulder_pan": [1, "sts3215"],
                    "shoulder_lift": [2, "sts3215"],
                    "elbow_flex": [3, "sts3215"],
                    "wrist_flex": [4, "sts3215"],
                    "wrist_roll": [5, "sts3215"],
                    "gripper": [6, "sts3215"],
                },
            ),
        }
    )

    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
            "laptop": OpenCVCameraConfig(
                camera_index=0,
                fps=30,
                width=640,
                height=480,
            ),
            "phone": OpenCVCameraConfig(
                camera_index=2,
                fps=30,
                width=640,
                height=480,
            ),
        }
    )

稼働範囲の取得

1
2
3
4
python lerobot/scripts/server/find_joint_limits.py \
  --mode ee \
  --control-time-s 60 \
  --robot-type so100

1
2
Max ee position [0.43667077 0.24992244 0.48715585]
Min ee position [-0.09507553 -0.29766109 -0.01841555]

env_config_so100.jsonの作成

サンプルでは、use_relative_joint_positions, open_gripper_on_reset, joint_masking_action_spaceがあるが無効になっているので項目を削除しておく。

lerobot/configs/env_config_so100.json

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
{
    "type": "gym_manipulator",
    "robot": {
        "type": "so100",
        "leader_arms": {},
        "follower_arms": {
            "main": {
                "type": "feetech",
                "port": "/dev/ttyACM0",
                "motors": {
                    "shoulder_pan": [
                        1,
                        "sts3215"
                    ],
                    "shoulder_lift": [
                        2,
                        "sts3215"
                    ],
                    "elbow_flex": [
                        3,
                        "sts3215"
                    ],
                    "wrist_flex": [
                        4,
                        "sts3215"
                    ],
                    "wrist_roll": [
                        5,
                        "sts3215"
                    ],
                    "gripper": [
                        6,
                        "sts3215"
                    ]
                }
            }
        },
        "cameras": {
            "front": {
                "type": "opencv",
                "camera_index": 0,
                "height": 480,
                "width": 640,
                "fps": 15
            },
            "wrist": {
                "type": "opencv",
                "camera_index": 2,
                "height": 480,
                "width": 640,
                "fps": 15
            }
        }
    },
    "wrapper": {
        "display_cameras": false,
        "add_joint_velocity_to_observation": true,
        "add_current_to_observation": true,
        "add_ee_pose_to_observation": true,
        "crop_params_dict": {
            "observation.images.front": [
                270,
                170,
                90,
                190
            ],
            "observation.images.wrist": [
                0,
                0,
                480,
                640
            ]
        },
        "resize_size": [
            128,
            128
        ],
        "control_time_s": 20.0,
        "use_gripper": true,
        "gripper_quantization_threshold": null,
        "gripper_penalty": -0.02,
        "gripper_penalty_in_reward": false,
        "fixed_reset_joint_positions": [
            -0.0,
            110.0,
            120.0,
            70.0,
            -90.0,
            30.0
        ],
        "reset_time_s": 2.5,
        "ee_action_space_params": {
            "x_step_size": 0.03,
            "y_step_size": 0.03,
            "z_step_size": 0.03,
            "bounds": {
                "max": [
                    0.43667077, 
                    0.24992244,
                    0.48715585
                ],
                "min": [
                    -0.09507553, 
                    -0.29766109,
                    -0.01841555
                ]
            },
            "control_mode": "gamepad"
        }
    },
    "name": "real_robot",
    "mode": "record",
    "repo_id": "akira-sasaki/pick_place_cube_wrist_cam_3",
    "dataset_root": null,
    "task": "",
    "num_episodes": 3,
    "episode": 0,
    "pretrained_policy_name_or_path": null,
    "device": "cuda",
    "push_to_hub": true,
    "fps": 10,
    "features": {
        "observation.images.front": {
            "type": "VISUAL",
            "shape": [
                3,
                128,
                128
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                128,
                128
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                15
            ]
        },
        "action": {
            "type": "ACTION",
            "shape": [
                3
            ]
        }
    },
    "features_map": {}
}

gym_manipulatorを起動し、データセットを収集。

1
python lerobot/scripts/server/gym_manipulator.py --config_path lerobot/configs/env_config_so100.json

強化学習用のtrain_config_hilserl_so100.jsonの作成

サンプルでは、use_relative_joint_positions, open_gripper_on_reset, joint_masking_action_space, use_gamepad,camera_numberがあるが無効になっているので項目を削除しておく。

lerobot/configs/train_config_hilserl_so100.json

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
{
    "output_dir": null,
    "job_name": "default",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 256,
    "steps": 100000,
    "log_freq": 500,
    "save_checkpoint": true,
    "save_freq": 5000,
    "wandb": {
        "enable": true,
        "project": "so100_real",
        "disable_artifact": true
    },
    "dataset": {
        "repo_id": "akira-sasaki/pick_place_cube_wrist_cam_3",
        "use_imagenet_stats": false
    },
    "policy": {
        "type": "sac",
        "n_obs_steps": 1,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ENV": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "input_features": {
            "observation.images.front": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.images.wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    21
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    3
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "dataset_stats": {
            "observation.images.front": {
                "mean": [
                    0.485,
                    0.456,
                    0.406
                ],
                "std": [
                    0.229,
                    0.224,
                    0.225
                ]
            },
            "observation.images.wrist": {
                "mean": [
                    0.485,
                    0.456,
                    0.406
                ],
                "std": [
                    0.229,
                    0.224,
                    0.225
                ]
            },
            "observation.state": {
                "min": [
                    -10.0,
                    93.0,
                    125.0,
                    25.0,
                    -86.0,
                    0.0,
                    -66.0,
                    -74.0,
                    -10.0,
                    -76.0,
                    -4.0,
                    -164.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.15,
                    -0.08,
                    -0.01
                ],
                "max": [
                    25.0,
                    121.0,
                    147.0,
                    73.0,
                    -85.0,
                    25.0,
                    69.0,
                    50.0,
                    28.0,
                    67.0,
                    4.0,
                    163.0,
                    500.0,
                    500.0,
                    500.0,
                    500.0,
                    500.0,
                    500.0,
                    0.35,
                    0.03,
                    0.1
                ]
            },
            "action": {
                "min": [
                    -0.03,
                    -0.03,
                    -0.03

                ],
                "max": [
                    0.03,
                    0.03,
                    0.03
                ]
            }
        },
        "num_discrete_actions": 3,
        "storage_device": "cpu",
        "vision_encoder_name": "helper2424/resnet10",
        "freeze_vision_encoder": true,
        "image_encoder_hidden_dim": 32,
        "shared_encoder": true,
        "online_steps": 1000000,
        "online_env_seed": 10000,
        "online_buffer_capacity": 100000,
        "offline_buffer_capacity": 100000,
        "online_step_before_learning": 100,
        "policy_update_freq": 1,
        "discount": 0.97,
        "async_prefetch": false,
        "temperature_init": 0.01,
        "num_critics": 2,
        "num_subsample_critics": null,
        "critic_lr": 0.0003,
        "actor_lr": 0.0003,
        "temperature_lr": 0.0003,
        "critic_target_update_weight": 0.005,
        "utd_ratio": 2,
        "state_encoder_hidden_dim": 256,
        "latent_dim": 256,
        "target_entropy": null,
        "use_backup_entropy": true,
        "grad_clip_norm": 40.0,
        "critic_network_kwargs": {
            "hidden_dims": [
                256,
                256
            ],
            "activate_final": true,
            "final_activation": null
        },
        "actor_network_kwargs": {
            "hidden_dims": [
                256,
                256
            ],
            "activate_final": true
        },
        "policy_kwargs": {
            "use_tanh_squash": true,
            "log_std_min": 1e-5,
            "log_std_max": 5.0,
            "init_final": 0.05
        },
        "actor_learner_config": {
            "learner_host": "127.0.0.1",
            "learner_port": 50051,
            "policy_parameters_push_frequency": 4
        },
        "concurrency": {
            "actor": "threads",
            "learner": "threads"
        }
    },
    "env": {
        "type": "gym_manipulator",
        "robot": {
            "type": "so100",
            "leader_arms": {},
            "follower_arms": {
                "main": {
                    "type": "feetech",
                    "port": "/dev/ttyACM0",
                    "motors": {
                        "shoulder_pan": [
                            1,
                            "sts3215"
                        ],
                        "shoulder_lift": [
                            2,
                            "sts3215"
                        ],
                        "elbow_flex": [
                            3,
                            "sts3215"
                        ],
                        "wrist_flex": [
                            4,
                            "sts3215"
                        ],
                        "wrist_roll": [
                            5,
                            "sts3215"
                        ],
                        "gripper": [
                            6,
                            "sts3215"
                        ]
                    }
                }
            },
            "cameras": {
                "front": {
                    "type": "opencv",
                    "camera_index": 0,
                    "height": 480,
                    "width": 640,
                    "fps": 15
                },
                "wrist": {
                    "type": "opencv",
                    "camera_index": 2,
                    "height": 480,
                    "width": 640,
                    "fps": 15
                }
            }
        },
        "wrapper": {
            "display_cameras": false,
            "add_joint_velocity_to_observation": true,
            "add_current_to_observation": true,
            "add_ee_pose_to_observation": true,
            "crop_params_dict": {
                "observation.images.front": [
                    160,
                    220,
                    120,
                    150
                ],
                "observation.images.wrist": [
                    0,
                    0,
                    480,
                    640
                ]
            },
            "resize_size": [
                128,
                128
            ],
            "control_time_s": 10.0,
            "use_gripper": true,
            "gripper_quantization_threshold": null,
            "gripper_penalty": -0.02,
            "gripper_penalty_in_reward": false,
            "fixed_reset_joint_positions": [
                -0.0,
                110.0,
                120.0,
                70.0,
                -90.0,
                25.0
            ],
            "reset_time_s": 2.5,
            "ee_action_space_params": {
                "x_step_size": 0.03,
                "y_step_size": 0.03,
                "z_step_size": 0.03,
              "bounds": {
                  "max": [
                      0.43667077, 
                      0.24992244,
                      0.48715585
                  ],
                  "min": [
                      -0.09507553, 
                      -0.29766109,
                      -0.01841555
                  ]
              }
            }
        },
        "name": "real_robot",
        "mode": null,
        "repo_id": null,
        "dataset_root": null,
        "task": "",
        "num_episodes": 15,
        "episode": 0,
        "pretrained_policy_name_or_path": null,
        "device": "cuda",
        "push_to_hub": true,
        "fps": 10,
        "features": {
            "observation.images.front": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.images.wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    128,
                    128
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    21
                ]
            },
            "action": {
                "type": "ACTION",
                "shape": [
                    3
                ]
            }
        },
        "features_map": {
          "action": "action",
          "observation.images.front": "observation.images.front",
          "observation.images.wrist": "observation.images.wrist",
          "observation.state":        "observation.state"
        }
    }

}

Lernerの起動

1
python lerobot/scripts/server/learner_server.py --config_path lerobot/configs/train_config_hilserl_so100.json

Actorの起動

1
python lerobot/scripts/server/actor_server.py --config_path lerobot/configs/train_config_hilserl_so100.json