Humanoid Robots Wiki - User contributions [en]

K-Scale Cluster

2024-05-05T00:48:20Z

Jos: /* Reserving a GPU */

The K-Scale Labs clusters are shared cluster for robotics research. This page contains notes on how to access the clusters.

== Onboarding ==

To get onboarded, you should send us the public key that you want to use and maybe your preferred username.

After being onboarded, you should receive the following information:

* Your user ID (for this example, we'll use <code>stompy</code>)
* The jumphost ID (for this example, we'll use <code>127.0.0.1</code>)
* The cluster ID (for this example, we'll use <code>127.0.0.2</code>)

To connect, you should be able to use the following command:

<syntaxhighlight lang="bash">
ssh -o ProxyCommand="ssh -i ~/.ssh/id_rsa -W %h:%p stompy@127.0.0.1" stompy@127.0.0.2 -i ~/.ssh/id_rsa
</syntaxhighlight>

Note that <code>~/.ssh/id_rsa</code> should point to your private key file.

Alternatively, you can add the following to your SSH config file, which should allow you to connect directly,
Use your favorite editor to open the ssh config file (normally located at <code>~/.ssh/config</code> for Ubuntu) and paste the text:

<syntaxhighlight lang="text">
Host jumphost
User stompy
Hostname 127.0.0.1
IdentityFile ~/.ssh/id_rsa

Host cluster
User stompy
Hostname 127.0.0.2
ProxyJump jumphost
IdentityFile ~/.ssh/id_rsa
</syntaxhighlight>

After setting this up, you can use the command <code>ssh cluster</code> to directly connect.

You can also access via VS Code. Tutorial of using <code>ssh</code> in VS Code is [https://code.visualstudio.com/docs/remote/ssh-tutorial here].

Please inform us if you have any issues!

=== Notes ===

* You may need to restart <code>ssh</code> to get it working.
* You may be sharing your part of the cluster with other users. If so, it is a good idea to avoid using all the GPUs. If you're training models in PyTorch, you can do this using the <code>CUDA_VISIBLE_DEVICES</code> command.
* You should avoid storing data files and model checkpoints to your root directory. Instead, use the <code>/ephemeral</code> directory. Your home directory should come with a symlink to a subdirectory which you have write access to.

=== Cluster 1 ===

=== Cluster 2 ===
The cluster has 8 available nodes (each with 8 GPUs):
<syntaxhighlight lang="text">
compute-permanent-node-68
compute-permanent-node-285
compute-permanent-node-493
compute-permanent-node-625
compute-permanent-node-626
compute-permanent-node-749
compute-permanent-node-801
compute-permanent-node-580
</syntaxhighlight>
When you ssh-in, you log in to the bastion node pure-caribou-bastion from which you can log in to any other node where you can test your code.

== Reserving a GPU ==

Here is a script you can use for getting an interactive node through Slurm.

<syntaxhighlight lang="bash">
gpunode () {
local job_id=$(squeue -u $USER -h -t R -o %i -n gpunode)
if [[ -n $job_id ]]
then
echo "Attaching to job ID $job_id"
srun --jobid=$job_id --partition=$SLURM_GPUNODE_PARTITION --gpus=$SLURM_GPUNODE_NUM_GPUS --cpus-per-gpu=$SLURM_GPUNODE_CPUS_PER_GPU --pty $SLURM_XPUNODE_SHELL
return 0
fi
echo "Creating new job"
srun --partition=$SLURM_GPUNODE_PARTITION --gpus=$SLURM_GPUNODE_NUM_GPUS --cpus-per-gpu=$SLURM_GPUNODE_CPUS_PER_GPU --interactive --job-name=gpunode --pty $SLURM_XPUNODE_SHELL
}
</syntaxhighlight>

Example env vars:
<syntaxhighlight lang="bash">
export SLURM_GPUNODE_PARTITION='compute'
export SLURM_GPUNODE_NUM_GPUS=1
export SLURM_GPUNODE_CPUS_PER_GPU=4
export SLURM_XPUNODE_SHELL='/bin/bash'
</syntaxhighlight>

Integrate the example script into your shell then run `gpunode`.

You can see partition options by running `sinfo`.

You might get an error like this: `groups: cannot find name for group ID 1506`
But things should still run fine. Check with `nvidia-smi`

[[Category:K-Scale]]

Category:Non-humanoid Robots

2024-05-02T18:47:25Z

Jos: Created page with "== Open Source == * https://open-dynamic-robot-initiative.github.io/"

== Open Source ==

* https://open-dynamic-robot-initiative.github.io/

Main Page

2024-05-02T18:46:13Z

Jos: /* Getting Started */

Welcome to the Humanoid Robots wiki!

This is a free resource to learn about humanoid robots.

As you're looking around, if something feels incomplete or out-of-date, please update it so that we can continue providing high-quality information to the community.

=== Getting Started ===

Here are some resources to get started learning about humanoid robots.

{| class="wikitable"
|-
! Name
! Comments
|-
| [[Underactuated Robotics]]
| High-quality open-source course from MIT
|-
| [https://www.epfl.ch/labs/lasa/mit-press-book-learning/#chapter1 Learning for Adaptive and Reactive Robot Control]
|
|-
| [[Learning algorithms]]
| Resources related with training humanoid models in simulation and real environments
|-
| [[Reinforcement Learning]]
| Resources related to understanding reinforcement learning
|-
| [[Servo Design]]
| A reference for servos that you can use
|-
| [[:Category:Guides]]
| Category for pages which act as guides
|-
| [[:Category:Electronics]]
| Category for pages about electronics topics
|-
| [[:Category:Hardware]]
| Category for pages relating to hardware
|-
| [[:Category:Software]]
| Category for pages relating to software
|-
|-
| [[:Category:Teleop]]
| Category for pages relating to teleoperation
|-
|-
| [[:Category:Non-humanoid Robots]]
| Category for pages relating to non-humanoid robots
|-
| [[Contributing]]
| How to contribute to the wiki
|}

=== Communication Protocols ===

{| class="wikitable"
|-
! Name
|-
| [[Controller Area Network (CAN)]]
|-
| [[Inter-Integrated Circuit (I2C)]]
|-
| [[Serial Peripheral Interface (SPI)]]
|-
| [[EtherCAT]]
|}

=== List of Actuators ===

{| class="wikitable"
|-
! Actuator
! Notes
|-
| [[MyActuator X-Series]]
| MIT Cheetah-like quasi-direct drive actuator, with planetary gears
|-
| [[OBot]]
| Open-source actuator
|-
| [[SPIN Servo]]
| Open-source actuator
|-
| [[VESCular6]]
| A project based on [[VESC]]
|-
| [[ODrive]]
|
|-
| [[Solo Motor Controller]]
| A motor controller alternative to the [[ODrive]].
|}

=== List of Humanoid Robots ===

{| class="wikitable"
|-
! Company
! Robots
|-
| [[Tesla]]
| [[Optimus]]
|-
| [[Hyperspawn Robotics]]
| [[Shadow-1]]
|-
| [[Agility]]
| [[Cassie]], [[Digit]]
|-
| [[Sanctuary]]
| [[Phoenix]]
|-
| [[POINTBLANK]]
| [[DROPBEAR]]
|-
| [[1X]]
| [[Eve]], [[Neo]]
|-
| [[Fourier Intelligence]]
| [[GR-1]]
|-
| [[Unitree]]
| [[H1]]
|-
| [[UBTech]]
| [[Walker X]], [[Panda Robot]], [[Walker S]]
|-
| [[Deep Robotics]]
| [[Wukong-IV]]
|-
| [[Robotera]]
| [[XBot]], [[Starbot]]
|-
| [[DATAA Robotics]]
| [[XR4]]
|-
| [[System Technology Works]]
| [[ZEUS2Q]]
|-
| [[Boston Dynamics]]
| [[HD Atlas]], [[Atlas]]
|-
| [[Apptronik]]
| [[Valkyrie]], [[Draco]], [[QDH]], [[Apollo]]
|-
| [[K-Scale Labs]]
| [[Stompy]]
|-
| [[Rainbow Robotics]]
| [[HUBO]]
|-
| [[Kepler]]
| [[K1]]
|-
| [[Kawasaki Robotics]]
| [[Kaleido]], [[Friends]]
|-
| [[PAL Robotics]]
| [[Kangaroo]], [[REEM-C]], [[TALOS]]
|-
| [[LEJUROBOT]]
| [[Kuavo]]
|-
| [[DREAME]]
| [[MagicBot]]
|-
| [[MenteeBot]]
| [[MenteeBot (Robot)]]
|-
| [[Kind Humanoid]]
| [[Mona]]
|-
| [[Boardwalk Robotics]]
| [[Nadia]]
|-
| [[Xpeng]]
| [[PX5]]
|-
| [[Westwood Robotics]]
| [[THEMIS]]
|-
| [[NASA]]
| [[Valkyrie]]
|-
| [[FDROBOT]]
| [[T1]]
|-
| [[Figure]]
| [[Figure 01]]
|-
| [[Physical Intelligence]]
|
|-
| [[Skild]]
|
|-
| [[Booster Robotics]]
| [[BR002]]
|-
| [[Agibot]]
| [[RAISE-A1]]
|-
| [[LimX Dynamics]]
| [[CL-1]]
|-
| [[Xiaomi]]
| [[CyberOne]]
|-
| [[Anthrobotics]]
| [[Anthro]]
|-
| [[Toyota Research Institute]]
| [[Punyo]], [[T-HR3]]
|-
| [[SuperDroid Robots]]
| [[Rocky]]
|-
| [[Proxy]]
|
|-
| [[AstriBot Corporation]]
| [[Astribot S1]]
|-
| [[Beijing Humanoid Robot Innovation Center]]
| [[Tiangong]]
|-
| [[Kayra.org]]
| [[Kayra]]
|}