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Code & Experiments for CoRL 2021 Paper "LILA: Language-Informed Latent Actions." Mirrored from


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LILA: Language-Informed Latent Actions

Code and Experiments for Language-Informed Latent Actions (LILA), for using natural language to guide assistive teleoperation.

This code bundles code that can be deployed on a Franka Emika Panda Arm, including utilities for processing collected demonstrations (you can find our actual demo data in the data/ directory!), training various LILA and Imitation Learning models, and running live studies.


Assumes lila is the current working directory! This repository also comes with out-of-the-box linting and strict pre-commit checking... should you wish to turn off this functionality you can omit the pre-commit install lines below. If you do choose to use these features, you can run make autoformat to automatically clean code, and make check to identify any violations.

Repository Structure

High-level overview of repository file-tree:

  • conf - Quinine Configurations (.yaml) for various runs (used in lieu of argparse or typed-argument-parser)
  • environments - Serialized Conda Environments for running on CPU. Other architectures/CUDA toolkit environments can be added here as necessary.
  • robot/ - Core libfranka robot control code -- simple joint velocity controll w/ Gripper control.
  • src/ - Source Code - has all utilities for preprocessing, Lightning Model definitions, utilities.
    • preprocessing/ - Preprocessing Code for creating Torch Datasets for Training LILA/Imitation Models.
    • models/ - Lightning Modules for LILA-FiLM and Imitation-FiLM Architectures.
  • - Top-Level (main) entry point to repository, for training and evaluating models. Run this first, pointing it at the appropriate configuration in conf/!.
  • Makefile - Top-level Makefile (by default, supports conda serialization, and linting). Expand to your needs.
  • .flake8 - Flake8 Configuration File (Sane Defaults).
  • .pre-commit-config.yaml - Pre-Commit Configuration File (Sane Defaults).
  • pyproject.toml - Black and isort Configuration File (Sane Defaults).+ - You are here!
  • - You are here!
  • LICENSE - By default, research code is made available under the MIT License.

Local Development - CPU (Mac OS & Linux)

Note: Assumes that conda (Miniconda or Anaconda are both fine) is installed and on your path. Use the -cpu environment file.

conda env create -f environments/environment-cpu.yaml
conda activate lila
pre-commit install

GPU Development - Linux w/ CUDA 11.0

conda env create -f environments/environment-gpu.yaml  # Choose CUDA Kernel based on Hardware - by default used 11.0!
conda activate lila
pre-commit install

Note: This codebase should work naively for all PyTorch > 1.7, and any CUDA version; if you run into trouble building this repository, please file an issue!

Training LILA or Imitation Models

To train models using the already collected demonstrations.

python --config conf/lila-config.yaml

# No-Language Latent Actions
python --config conf/no-lang-config.yaml

# Imitatation Learning (Behavioral Cloning w/ DART-style Augmentation)
python --config conf/imitation-config.yaml

This will dump models to runs/{lila-final, no-lang-final, imitation-final}/. These paths are hard-coded in the respective teleoperation/execution files below; if you change these paths, be sure to change the below files as well!

Teleoperating with LILA or End-Effector Control

First, make sure to add the custom Velocity Controller written for the Franka Emika Panda Robot Arm (written using Libfranka) to ~/libfranka/examples on your robot control box. The controller can be found in robot/libfranka/lilaVelocityController.cpp.

Then, make sure to update the path of the model trained in the previous step (for LILA) in Finally, you can drop into controlling the robot with a LILA model (and Joystick - make sure it's plugged in!) with:

# LILA Control

# For No-Language Control, just change the arch!
python --arch no-lang

# Pure End-Effector Control is also implemented by Default
python --arch endeff

Running Imitation Learning

Add the Velocity Controller as described above. Then, make sure to update the path to the trained model in and run the following:


Collecting Kinesthetic Demonstrations

Each lab (and corresponding robot) is built with a different stack, and different preferred ways of recording Kinesthetic demonstrations. We have a rudimentary script that shows how we do this using sockets, and the default libfranka readState.cpp built-in script. This script dumps demonstrations that can be immediately used to train latent action models.

Start-Up from Scratch

In case the above conda environment loading does not work for you, here are the concrete package dependencies required to run LILA:

conda create --name lila python=3.8
conda activate lila
conda install pytorch torchvision torchaudio -c pytorch
conda install ipython jupyter
conda install pytorch-lightning -c conda-forge

pip install black flake8 isort matplotlib pre-commit pygame quinine transformers typed-argument-parser wandb


Code & Experiments for CoRL 2021 Paper "LILA: Language-Informed Latent Actions." Mirrored from







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