neuracore 7.8.0

Neuracore Client Library

Neuracore Python Client

Neuracore is a powerful robotics and machine learning client library for seamless robot data collection, model deployment, and interaction with comprehensive support for custom data types and real-time inference.

Features

• Easy robot initialization and connection (URDF and MuJoCo MJCF support)
• Streaming data logging with custom data types
• Model endpoint management (local and remote)
• Real-time policy inference and deployment
• Flexible dataset creation and synchronization
• Open source training infrastructure with Hydra configuration
• Custom algorithm development and upload
• Multi-modal data support (joint positions, velocities, RGB images, language, custom data, and more)

Installation

pip install neuracore

Note: for faster video decoding, installing ffmpeg via sudo apt-get install ffmpeg (for Linux) is recommended.

For training and ML development:

pip install neuracore[ml]

For MuJoCo MJCF support:

pip install neuracore[mjcf]

Quick Start

Ensure you have an account at neuracore.app

Authentication

import neuracore as nc

# This will save your API key locally
nc.login()

Robot Connection

# Connect to a robot with URDF
nc.connect_robot(
    robot_name="MyRobot", 
    urdf_path="/path/to/robot.urdf",
    overwrite=False  # Set to True to overwrite existing robot config
)

# Or connect using MuJoCo MJCF
nc.connect_robot(
    robot_name="MyRobot", 
    mjcf_path="/path/to/robot.xml"
)

Data Collection and Logging

Basic Data Logging

import time

# Create a dataset for recording
nc.create_dataset(
    name="My Robot Dataset",
    description="Example dataset with multiple data types"
)

# Start recording
nc.start_recording()

# Log various data types with timestamps
t = time.time()
nc.log_joint_positions("right_arm", {'joint1': 0.5, 'joint2': -0.3}, timestamp=t)
nc.log_joint_velocities("right_arm", {'joint1': 0.1, 'joint2': -0.05}, timestamp=t)
nc.log_joint_target_positions("right_arm", {'joint1': 0.6, 'joint2': -0.2}, timestamp=t)

# Log camera data
nc.log_rgb("top_camera", image_array, timestamp=t)

# Log language instructions
nc.log_language("instruction", "Pick up the red cube", timestamp=t)

# Log custom data
custom_sensor_data = [1.2, 3.4, 5.6]
nc.log_custom_data("force_sensor", custom_sensor_data, timestamp=t)

# Stop recording
nc.stop_recording()

Live Data Control

# Stop live data streaming (saves bandwidth, doesn't affect recording)
nc.stop_live_data(robot_name="MyRobot", instance=0)

# Resume live data streaming
nc.start_live_data(robot_name="MyRobot", instance=0)

Dataset Access and Visualization

# Load a dataset
dataset = nc.get_dataset("My Robot Dataset")

# Synchronize data types at a specific frequency
from neuracore_types import DataType

synced_dataset = dataset.synchronize(
    frequency=10,  # Hz
    data_types=[DataType.JOINT_POSITIONS, DataType.RGB_IMAGES, DataType.LANGUAGE]
)

print(f"Dataset has {len(synced_dataset)} episodes")

# Access synchronized data
for episode in synced_dataset[:5]:  # First 5 episodes
    for step in episode:
        joint_pos = step.joint_positions
        rgb_images = step.rgb_images
        language = step.language
        # Process your data

Model Inference

Local Model Inference

# Load a trained model locally
policy = nc.policy(train_run_name="MyTrainingJob")

# Or load from file path
# policy = nc.policy(model_file="/path/to/model.nc.zip")

# Set specific checkpoint (optional, defaults to last epoch)
policy.set_checkpoint(epoch=-1)

# Predict actions
predicted_sync_points = policy.predict(timeout=5, robot_name="MyRobot")
joint_target_positions = [sp.joint_target_positions for sp in predicted_sync_points]
actions = [jtp.numpy() for jtp in joint_target_positions if jtp is not None]

Remote Model Inference

# Connect to a remote endpoint
try:
    policy = nc.policy_remote_server("MyEndpointName")
    predicted_sync_points = policy.predict(timeout=5, robot_name="MyRobot")
    # Process predictions...
except nc.EndpointError:
    print("Endpoint not available. Please start it at neuracore.app/dashboard/endpoints")

Local Server Deployment

# Connect to a local policy server
policy = nc.policy_local_server(train_run_name="MyTrainingJob")

Command Line Tools

Neuracore provides several command-line utilities:

Authentication

# Interactive login to save API key
nc-login

Use the --email and --password option if you wish to login non-interactively.

Organization Management

# Select your current organization
nc-select-org

Use the --org-name option if you wish to select the org non-interactively.

Server Operations

# Launch local policy server for inference
nc-launch-server --job_id <job_id> --org_id <org_id> [--host <host>] [--port <port>]

# Example:
nc-launch-server --job_id my_job_123 --org_id my_org_456 --host 0.0.0.0 --port 8080

Parameters:

• --job_id: Required. The job ID to run
• --org_id: Required. Your organization ID
• --host: Optional. Host address (default: 0.0.0.0)
• --port: Optional. Port number (default: 8080)

Algorithm Validation

# Validate custom algorithms before upload
neuracore-validate /path/to/your/algorithm

Open Source Training

Neuracore includes a comprehensive training infrastructure with Hydra configuration management for local model development.

Training Structure

neuracore/
  ml/
    train.py              # Main training script
    config/               # Hydra configuration files
      config.yaml         # Main configuration
      algorithm/          # Algorithm-specific configs
        diffusion_policy.yaml
        act.yaml
        simple_vla.yaml
        cnnmlp.yaml
        ...
      training/           # Training configurations
      dataset/            # Dataset configurations
    algorithms/           # Built-in algorithms
    datasets/             # Dataset implementations
    trainers/             # Distributed training utilities
    utils/                # Training utilities

Training Examples

# Basic training with Diffusion Policy
python -m neuracore.ml.train algorithm=diffusion_policy dataset_name="my_dataset"

# Train ACT with custom hyperparameters
python -m neuracore.ml.train algorithm=act algorithm.lr=5e-4 algorithm.hidden_dim=1024 dataset_name="my_dataset"

# Auto-tune batch size
python -m neuracore.ml.train algorithm=diffusion_policy batch_size=auto dataset_name="my_dataset"

# Hyperparameter sweeps
python -m neuracore.ml.train --multirun algorithm=cnnmlp algorithm.lr=1e-4,5e-4,1e-3 algorithm.hidden_dim=256,512,1024 dataset_name="my_dataset"

# Multi-modal training with images and language
python -m neuracore.ml.train algorithm=simple_vla dataset_name="my_multimodal_dataset" input_robot_data_spec='["JOINT_POSITIONS","RGB_IMAGE","LANGUAGE"]'

Configuration Management

# config/config.yaml
defaults:
  - algorithm: diffusion_policy
  - training: default
  - dataset: default

# Core parameters
epochs: 100
batch_size: "auto"
seed: 42

# Multi-modal data support
input_robot_data_spec:
  - "JOINT_POSITIONS"
  - "RGB_IMAGE"
  - "LANGUAGE"
output_robot_data_spec:
  - "JOINT_TARGET_POSITIONS"

Training Features

• Distributed Training: Multi-GPU support with PyTorch DDP
• Automatic Batch Size Tuning: Find optimal batch sizes automatically
• Memory Monitoring: Prevent OOM errors with built-in monitoring
• TensorBoard Integration: Comprehensive logging and visualization
• Checkpoint Management: Automatic saving and resuming
• Cloud Integration: Seamless integration with Neuracore SaaS platform
• Multi-modal Support: Images, joint states, language, and custom data types

Custom Algorithm Development

Create custom algorithms by extending the NeuracoreModel class:

import torch
from neuracore.ml import NeuracoreModel, BatchedInferenceSamples, BatchedTrainingSamples, BatchedTrainingOutputs
from neuracore_types import DataType, ModelInitDescription, ModelPrediction

class MyCustomAlgorithm(NeuracoreModel):
    def __init__(self, model_init_description: ModelInitDescription, **kwargs):
        super().__init__(model_init_description)
        # Your model initialization here
        
    def forward(self, batch: BatchedInferenceSamples) -> ModelPrediction:
        # Your inference logic
        pass
        
    def training_step(self, batch: BatchedTrainingSamples) -> BatchedTrainingOutputs:
        # Your training logic
        pass
        
    def configure_optimizers(self) -> list[torch.optim.Optimizer]:
        # Return list of optimizers
        pass
        
    @staticmethod
    def get_supported_input_data_types() -> list[DataType]:
        return [DataType.JOINT_POSITIONS, DataType.RGB_IMAGES]
        
    @staticmethod
    def get_supported_output_data_types() -> list[DataType]:
        return [DataType.JOINT_TARGET_POSITIONS]

Algorithm Upload Options

1. Open Source Contribution: Submit a PR to the Neuracore repository
2. Private Upload: Upload directly at neuracore.app
   • Single Python file with your NeuracoreModel class
   • ZIP file containing your algorithm directory with requirements.txt

Environment Variables

Configure Neuracore behavior with environment variables (case insensitive, prefixed with NEURACORE_):

Variable	Function	Valid Values	Default
NEURACORE_REMOTE_RECORDING_TRIGGER_ENABLED	Allow remote recording triggers	true/false	true
NEURACORE_PROVIDE_LIVE_DATA	Enable live data streaming from this node	true/false	true
NEURACORE_CONSUME_LIVE_DATA	Enable live data consumption for inference	true/false	true
NEURACORE_API_URL	Base URL for Neuracore platform	URL string	https://api.neuracore.app/api
NEURACORE_API_KEY	An override to the api-key to access the neuracore	nrc_XXXX	Configured with the nc-login command
NEURACORE_ORG_ID	An override to select the organization to use.	A valid UUID	Configured with the nc-select-org command
TMPDIR	Specifies a directory used for storing temporary files	Filepath	An appropriate folder for your system

Performance Considerations

Bandwidth Optimization

• Use appropriate camera resolutions
• Log only necessary joint states
• Maintain consistent joint combinations (max 50 concurrent streams)
• Consider hardware-accelerated H.264 encoding for video

Processing Optimization

• Enable hardware acceleration for video encoding
• Limit simultaneous dashboard viewers during recording
• Distribute data collection across multiple machines when needed
• Use nc.stop_live_data() when live monitoring isn't required

Documentation

• Creating Custom Algorithms
• Performance Limitations
• Examples

Development Setup

git clone https://github.com/neuracoreai/neuracore
cd neuracore
pip install -e .[dev,ml]

Testing

export NEURACORE_API_URL=http://localhost:8000/api
pytest tests/

If testing on Mac, you may need to set:

export PYTORCH_ENABLE_MPS_FALLBACK=1

Contributing

We welcome contributions! Please see our contributing guidelines and submit pull requests for:

• New algorithms and models
• Performance improvements
• Documentation enhancements
• Bug fixes and feature requests