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Robotic Transformer - Pytorch

Implementation of RT1 (Robotic Transformer), from the Robotics at Google team, in Pytorch

Instructions

git clone https://github.com/Rohan138/rt1-pytorch.git
pip install -e .

# See main.py for additional arguments
python main.py --train-split "train[:1000]" --eval-split "train[:1000]" \
--train-batch-size 8 --eval-batch-size 8 --eval-freq 100 --checkpoint-freq 1000 \
--wandb

Changelog

  • 11/10/2023: Initial commit! Wrote FiLM-EfficientNet and tests
  • 11/11/2023: Wrote tokenizers and initial RT1 skeleton; separate tests folder download and experiment with datasets
  • 11/14/2023: Separate RT1Model and RT1Policy; fix einops
  • 11/16/2023: Add data.py; add back USE embeddings
  • 11/19/2023: Lots of cleanup; move trajectory logic to data.py; added tests for model, policy, and loss; fix action tokenizer
  • 11/20/2023: Updates to data.py; add device=cuda support finalize main.py; add simple evaluation and checkpointing logic start vd4rl_main.py; cleanup FiLM-EfficientNet files
  • Finished vd4rl_main.py; some additional cleanup; GPU benchmarking

Note: Per trajectory, the memory consumed is:

  • Model: 38 MB
  • Forward (no grad): 384 MB
  • Forward (with grad): 2120 MB
  • Backward: 40 MB

TODO

  • Add smaller vd4rl benchmarks
  • Add WanDB logging
  • Add off-policy evaluation to evaluate on test dataset
  • Implement DDP; make sure we check loss reduction stays the same
  • Try onehot encoding discrete actions instead of passing the raw action as a token
  • Optimize so we don't run tokenizer 6x per image; see efficient-encode branch
  • Try predicting last token only; see lasttoken branch
  • Hyperparameter tuning
  • Tests! All the tests! Unit tests, learning tests, testing all the way!
  • Oh what fun, it is to write, a bunch of tests all day!
  • Try CoW-MOO
  • Try ViT instead as in the lucidrains implementation
  • Train and evaluate on real KUKA robot
  • Setup lint and CI pipeline; currently running black and isort

Acknowledgements

Special thanks to Raghava Uppuluri for all the ideas, late-night deubgging discussions, compute, hardware, and support!

Initial implementation borrowed from lucidrains/robotic-transformer-pytorch

Datasets

@inproceedings{rt12022arxiv,
    title    = {RT-1: Robotics Transformer for Real-World Control at Scale},
    author   = {Anthony Brohan and Noah Brown and Justice Carbajal and  Yevgen Chebotar and Joseph Dabis and Chelsea Finn and Keerthana Gopalakrishnan and Karol Hausman and Alex Herzog and Jasmine Hsu and Julian Ibarz and Brian Ichter and Alex Irpan and Tomas Jackson and  Sally Jesmonth and Nikhil Joshi and Ryan Julian and Dmitry Kalashnikov and Yuheng Kuang and Isabel Leal and Kuang-Huei Lee and  Sergey Levine and Yao Lu and Utsav Malla and Deeksha Manjunath and  Igor Mordatch and Ofir Nachum and Carolina Parada and Jodilyn Peralta and Emily Perez and Karl Pertsch and Jornell Quiambao and  Kanishka Rao and Michael Ryoo and Grecia Salazar and Pannag Sanketi and Kevin Sayed and Jaspiar Singh and Sumedh Sontakke and Austin Stone and Clayton Tan and Huong Tran and Vincent Vanhoucke and Steve Vega and Quan Vuong and Fei Xia and Ted Xiao and Peng Xu and Sichun Xu and Tianhe Yu and Brianna Zitkovich},
    booktitle = {arXiv preprint arXiv:2204.01691},
    year      = {2022}
}
@article{Lu2022ChallengesAO,
  title={Challenges and Opportunities in Offline Reinforcement Learning from Visual Observations},
  author={Cong Lu and Philip J. Ball and Tim G. J. Rudner and Jack Parker-Holder and Michael A. Osborne and Yee Whye Teh},
  journal={ArXiv},
  year={2022},
  volume={abs/2206.04779},
  url={https://api.semanticscholar.org/CorpusID:249605861}
}