Upload mujoco_lerobot_train

README.md

@@ -59,7 +59,6 @@ See:
 - `collect_dataset.py`: collect a MuJoCo pick-place dataset in LeRobot format
 - `viz_dataset.py`: open `lerobot-dataset-viz` for the configured dataset
 - `train_policy.py`: Python entry that reads config and launches training
-- `train_policy.sh`: native shell entry that ends with a raw `lerobot-train`
 - `eval_policy.py`: closed-loop MuJoCo evaluation using the trained policy
 - `common.py`: shared minimal implementation
 - `config.json`: all parameters
@@ -69,7 +68,6 @@ See:
 - `collect_dataset.py`：采集 MuJoCo 抓取放置数据，并写成 LeRobot 标准格式
 - `viz_dataset.py`：调用 `lerobot-dataset-viz` 可视化当前数据集
 - `train_policy.py`：读取配置后启动训练
-- `train_policy.sh`：原生 shell 训练入口，最终直接执行 `lerobot-train`
 - `eval_policy.py`：在 MuJoCo 中闭环评估训练好的策略
 - `common.py`：公共最小实现
 - `config.json`：全部参数
@@ -80,50 +78,46 @@ Activate your environment first:
 
 ```bash
 conda activate lerobot
+cd /Users/liuchu/codes/robot/mujoco_lerobot_train
 ```
 
 ## 运行
 
-先激活环境：
+先激活环境并进入目录：
 
 ```bash
 conda activate lerobot
+cd /Users/liuchu/codes/robot/mujoco_lerobot_train
 ```
 
 Collect dataset:
 
 ```bash
-python /Users/liuchu/codes/robot/mujoco_lerobot_train/collect_dataset.py
+python collect_dataset.py
 ```
 
 Visualize dataset:
 
 ```bash
-python /Users/liuchu/codes/robot/mujoco_lerobot_train/viz_dataset.py
+python viz_dataset.py
 ```
 
 Train with the Python entry:
 
 ```bash
-python /Users/liuchu/codes/robot/mujoco_lerobot_train/train_policy.py
-```
-
-Train with the native shell entry:
-
-```bash
-bash /Users/liuchu/codes/robot/mujoco_lerobot_train/train_policy.sh
+python train_policy.py
 ```
 
 Closed-loop MuJoCo evaluation:
 
 ```bash
-python /Users/liuchu/codes/robot/mujoco_lerobot_train/eval_policy.py
+python eval_policy.py
 ```
 
 闭环 MuJoCo 评估：
 
 ```bash
-python /Users/liuchu/codes/robot/mujoco_lerobot_train/eval_policy.py
+python eval_policy.py
 ```
 
 ## Config
@@ -165,19 +159,19 @@ huggingface-cli login
 Then upload this folder:
 
 ```bash
-bash /Users/liuchu/codes/robot/mujoco_lerobot_train/upload_to_hf.sh <user_or_org>/<repo_name>
+bash ./upload_to_hf.sh <user_or_org>/<repo_name>
 ```
 
 Private repo:
 
 ```bash
-HF_PRIVATE=1 bash /Users/liuchu/codes/robot/mujoco_lerobot_train/upload_to_hf.sh <user_or_org>/<repo_name>
+HF_PRIVATE=1 bash ./upload_to_hf.sh <user_or_org>/<repo_name>
 ```
 
 Dataset repo instead of model repo:
 
 ```bash
-HF_REPO_TYPE=dataset bash /Users/liuchu/codes/robot/mujoco_lerobot_train/upload_to_hf.sh <user_or_org>/<repo_name>
+HF_REPO_TYPE=dataset bash ./upload_to_hf.sh <user_or_org>/<repo_name>
 ```
 
 Ignored during upload:

common.py

@@ -5,37 +5,10 @@ import os
 import shlex
 import shutil
 import subprocess
-import sys
 import time
 from dataclasses import dataclass
 from pathlib import Path
 
-
-def ensure_lerobot_importable() -> None:
-    try:
-        import lerobot  # noqa: F401
-
-        return
-    except ModuleNotFoundError:
-        pass
-
-    candidates = [
-        Path.home() / "lerobot" / "src",
-        Path.home() / "codes" / "lerobot" / "src",
-    ]
-    if "LEROBOT_SRC" in os.environ:
-        candidates.insert(0, Path(os.environ["LEROBOT_SRC"]).expanduser())
-
-    for candidate in candidates:
-        if candidate.exists():
-            sys.path.insert(0, str(candidate))
-            return
-
-    raise ModuleNotFoundError("Could not import `lerobot`. Install it or set `LEROBOT_SRC`.")
-
-
-ensure_lerobot_importable()
-
 import mujoco
 import numpy as np
 import torch
@@ -188,19 +161,7 @@ def load_config(config_path: str | Path | None = None) -> AppConfig:
 
 
 def lerobot_env() -> dict[str, str]:
-    env = os.environ.copy()
-    candidates = [
-        Path.home() / "lerobot" / "src",
-        Path.home() / "codes" / "lerobot" / "src",
-    ]
-    if "LEROBOT_SRC" in env:
-        candidates.insert(0, Path(env["LEROBOT_SRC"]).expanduser())
-    for candidate in candidates:
-        if candidate.exists():
-            current = env.get("PYTHONPATH")
-            env["PYTHONPATH"] = f"{candidate}:{current}" if current else str(candidate)
-            break
-    return env
+    return os.environ.copy()
 
 
 def maybe_reexec_with_mjpython(show_viewer: bool, env_key: str) -> None:
@@ -521,9 +482,7 @@ def run_subprocess(cmd: list[str]) -> None:
 
 def viz_dataset(cfg: AppConfig) -> None:
     cmd = [
-        sys.executable,
-        "-m",
-        "lerobot.scripts.lerobot_dataset_viz",
+        "lerobot-dataset-viz",
         "--repo-id",
         cfg.dataset.repo_id,
         "--root",

upload_to_hf.sh

@@ -9,8 +9,8 @@ PRIVATE_FLAG="${HF_PRIVATE:-0}"
 CLI_BIN="${HF_CLI_BIN:-huggingface-cli}"
 
 if [[ -z "$REPO_ID" ]]; then
-  echo "usage: bash $SCRIPT_DIR/upload_to_hf.sh <repo_id>"
-  echo "example: bash $SCRIPT_DIR/upload_to_hf.sh lcccluck/mujoco-lerobot-train"
+  echo "usage: bash ./upload_to_hf.sh <repo_id>"
+  echo "example: bash ./upload_to_hf.sh lcccluck/mujoco-lerobot-train"
   exit 1
 fi