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Fix Issue #1: Use ProcessPoolExecutor instead of ThreadPoolExecutor #3

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Fix Issue #1: Use ProcessPoolExecutor instead of ThreadPoolExecutor #3

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@shantanuparab-tr shantanuparab-tr commented Sep 19, 2024 •
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Fixes #1 (🐛 Bug)
Used ProcessPoolExecutor instead of the ThreadPoolExecutor for saving images to disk during the evaluation. ProcessPoolExecutor bypasses GIL thereby improving the performance for I/O operations. When the evaluation is run on a 4 camera setup using the Aloha Kit, the frequency drops to 7-8 Hz which is lower than the expected 30 Hz.

How it was tested

Run the evaluation script you should see a improvement in the performance and the robots moving smoothly to complete the task.

  • Changed ThreadPoolExecutors to ProcessPoolExecutors in lerobot/scripts/control_robot.py.
python lerobot/scripts/control_robot.py record \
  --robot-path lerobot/configs/robot/aloha.yaml \
  --fps 30 \
  --root data \
  --repo-id ${HF_USER}/eval_aloha_test \
  --tags tutorial eval \
  --warmup-time-s 5 \
  --episode-time-s 30 \
  --reset-time-s 30 \
  --num-episodes 10 \
  -p ${HF_USER}/act_aloha_test

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Frequency Drop during Evaluation [Aloha]
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