lerobot/robot-learning-tutorial

1<div class="throughput-weka-drops"></div>2<style>3  .throughput-weka-drops { position: relative; }4  .throughput-weka-drops .axis-label { fill: var(--text-color); font-size: 12px; font-weight: 700; }5  .throughput-weka-drops .axes path, .throughput-weka-drops .axes line { stroke: var(--axis-color); }6  .throughput-weka-drops .axes text { fill: var(--tick-color); }7  .throughput-weka-drops .grid line { stroke: var(--grid-color); }8  .throughput-weka-drops .chart-card { background: var(--surface-bg); border: 1px solid var(--border-color); border-radius: 10px; padding: 8px; }9  .throughput-weka-drops .chart-header { display:flex; align-items:flex-start; justify-content:flex-start; gap:12px; margin: 8px 0 0 0; flex-wrap: wrap; }10  .throughput-weka-drops .legend-bottom { display:flex; align-items:center; justify-content:flex-start; font-size:12px; color: var(--text-color); }11  .throughput-weka-drops .legend-bottom .items { display:flex; flex-wrap:wrap; gap:8px 14px; }12  .throughput-weka-drops .legend-bottom .item { display:inline-flex; align-items:center; gap:6px; white-space:nowrap; }13  .throughput-weka-drops .legend-bottom .swatch { width:14px; height:14px; border-radius:3px; border:1px solid var(--border-color); display:inline-block; }14  .throughput-weka-drops .legend-bottom .legend-title { font-size: 12px; font-weight: 700; color: var(--text-color); }15  .throughput-weka-drops .legend-bottom { flex-direction: column; align-items: flex-start; gap: 6px; }16  .throughput-weka-drops .lines path.active { stroke-width: 3; }17  .throughput-weka-drops .d3-tooltip { z-index: var(--z-elevated); backdrop-filter: saturate(1.12) blur(8px); }18  .throughput-weka-drops .d3-tooltip__inner { display:flex; flex-direction:column; gap:6px; min-width: 220px; }19  .throughput-weka-drops .d3-tooltip__inner > div:first-child { font-weight: 800; letter-spacing: 0.1px; margin-bottom: 0; }20  .throughput-weka-drops .d3-tooltip__inner > div:nth-child(2) { font-size: 11px; color: var(--muted-color); display: block; margin-top: -4px; margin-bottom: 2px; letter-spacing: 0.1px; }21  .throughput-weka-drops .d3-tooltip__color-dot { display:inline-block; width: 12px; height: 12px; border-radius: 3px; border: 1px solid var(--border-color); }22</style>23<script>24  (() => {25    const ensureD3 = (cb) => {26      if (window.d3 && typeof window.d3.select === 'function') return cb();27      let s = document.getElementById('d3-cdn-script');28      if (!s) { s = document.createElement('script'); s.id = 'd3-cdn-script'; s.src = 'https://cdn.jsdelivr.net/npm/d3@7/dist/d3.min.js'; document.head.appendChild(s); }29      const onReady = () => { if (window.d3 && typeof window.d3.select === 'function') cb(); };30      s.addEventListener('load', onReady, { once: true }); if (window.d3) onReady();31    };32 33    const bootstrap = () => {34      const scriptEl = document.currentScript;35      let container = scriptEl ? 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s.slice(0, -2) : s) + 'k';113        }114        return d3.format('d')(v);115      }116 117      // Format helper for throughput values118      function formatThroughput(v){119        if (v >= 1000) {120          return d3.format('.1f')(v / 1000) + 'k';121        }122        return d3.format('.1f')(v);123      }124 125      function updateLayout(){126        const axisColor = getComputedStyle(container).getPropertyValue('--axis-color').trim() || 'rgba(0,0,0,0.25)';127        width = container.clientWidth || 800;128        height = Math.max(280, Math.round(width / 3));129        svg.attr('width', width).attr('height', height);130        gRoot.attr('transform', `translate(${margin.left},${margin.top})`);131        const innerWidth = width - margin.left - margin.right;132        const innerHeight = height - margin.top - margin.bottom;133        overlay.attr('x',0).attr('y',0).attr('width', innerWidth).attr('height', innerHeight);134        hoverLine.attr('y1',0).attr('y2', innerHeight).attr('stroke', axisColor);135        return { innerWidth, innerHeight };136      }137 138      function render(){139        if (data.length === 0) return;140        141        const { innerWidth, innerHeight } = updateLayout();142        143        // Sort data by step144        const sortedData = data.slice().sort((a, b) => a.step - b.step);145        146        // domains147        const minStep = d3.min(sortedData, d => d.step);148        const maxStep = d3.max(sortedData, d => d.step);149        const minValue = d3.min(sortedData, d => d.value);150        const maxValue = d3.max(sortedData, d => d.value);151        152        xScale.domain([minStep, maxStep]).range([0, innerWidth]);153        yScale.domain([minValue, maxValue]).nice().range([innerHeight, 0]);154 155        // grid156        gGrid.selectAll('*').remove();157        gGrid.selectAll('line').data(yScale.ticks(6)).join('line')158          .attr('x1',0).attr('x2', innerWidth).attr('y1', d=>yScale(d)).attr('y2', d=>yScale(d))159          .attr('stroke','var(--grid-color)').attr('stroke-width',1).attr('shape-rendering','crispEdges');160 161        // axes162        gAxes.selectAll('*').remove();163        gAxes.append('g').attr('transform', `translate(0,${innerHeight})`).call(d3.axisBottom(xScale).ticks(8).tickFormat(formatK)).call(g=>{ g.selectAll('path, line').attr('stroke','var(--axis-color)'); g.selectAll('text').attr('fill','var(--tick-color)').style('font-size','12px'); });164        gAxes.append('g').call(d3.axisLeft(yScale).ticks(6).tickFormat(formatThroughput)).call(g=>{ g.selectAll('path, line').attr('stroke','var(--axis-color)'); g.selectAll('text').attr('fill','var(--tick-color)').style('font-size','12px'); });165        gAxes.append('text').attr('class','axis-label').attr('text-anchor','middle').attr('x', innerWidth/2).attr('y', innerHeight + 38).text('Training Step');166        gAxes.append('text').attr('class','axis-label').attr('text-anchor','middle').attr('transform', `translate(${-60}, ${innerHeight/2}) rotate(-90)`).text('Tokens/sec/GPU');167 168        // line169        const color = getColor();170        gLines.selectAll('*').remove();171        gLines.append('path')172          .attr('class','line')173          .attr('fill','none')174          .attr('stroke', color)175          .attr('stroke-width', 2)176          .attr('d', lineGen(sortedData));177 178        // point markers179        gPoints.selectAll('*').remove();180        gPoints.selectAll('circle').data(sortedData).join('circle')181          .attr('class','point')182          .attr('r', 2)183          .attr('fill', color)184          .attr('fill-opacity', 0.6)185          .attr('cx', d=>xScale(d.step))186          .attr('cy', d=>yScale(d.value));187 188        // legend189        legendBottom.innerHTML = `<div class="legend-title">Throughput</div><div class="items"><span class="item"><span class="swatch" style="background:${color}"></span><span>Tokens/sec/GPU</span></span></div>`;190 191        // hover192        function onMove(ev){193          const [mx, my] = d3.pointer(ev, overlay.node());194          const sx = xScale.invert(mx);195          196          // Find nearest point197          const nearest = sortedData.reduce((best, d) => Math.abs(d.step - sx) < Math.abs(best.step - sx) ? d : best, sortedData[0]);198          const xpx = xScale(nearest.step);199          hoverLine.style('display', null).attr('x1', xpx).attr('x2', xpx);200          201          // tooltip content202          let html = `<div style="font-weight:800;letter-spacing:.1px;">Training Throughput</div><div style="font-size:11px;color:var(--muted-color);margin-top:-4px;margin-bottom:2px;">Step ${formatK(nearest.step)}</div>`;203          html += `<div style="display:flex;align-items:center;gap:6px;white-space:nowrap;"><span class="d3-tooltip__color-dot" style="background:${color}"></span><strong>Tokens/sec/GPU</strong><span style="margin-left:auto;">${formatThroughput(nearest.value)}</span></div>`;204          205          tipInner.innerHTML = html; 206          tip.style.opacity = '1'; 207          tip.style.transform = `translate(${Math.round(mx + margin.left + 12)}px, ${Math.round(my + margin.top + 12)}px)`;208        }209        210        function onLeave(){ 211          tip.style.opacity='0'; 212          tip.style.transform='translate(-9999px, -9999px)'; 213          hoverLine.style('display','none'); 214        }215        216        overlay.on('mousemove', onMove).on('mouseleave', onLeave);217      }218 219      // load CSV and init220      (async () => {221        try {222          // Try multiple possible paths for the CSV file223          const csvPaths = [224            '/data/weka_drop_0404.csv',225            './assets/data/weka_drop_0404.csv',226            '../assets/data/weka_drop_0404.csv',227            '../../assets/data/weka_drop_0404.csv'228          ];229          230          let csvText = null;231          for (const path of csvPaths) {232            try {233              const response = await fetch(path, { cache: 'no-cache' });234              if (response.ok) {235                csvText = await response.text();236                break;237              }238            } catch(_) {}239          }240          241          if (!csvText) {242            throw new Error('CSV file not found: weka_drop_0404.csv');243          }244          245          const rows = d3.csvParse(csvText);246          247          // Parse the data - use the second column (tokens_per_sec_per_gpu) and ignore min/max248          data = rows.map(d => ({249            step: +d.Step,250            value: +d["04/04/2025_02:44:57_elie-smollm3-training-3p56G-smollm3-3B-start-0404-stage-1-wo-zloss-seed6-ddp-256-seed-6-_tp_group_1 - tokens_per_sec_per_gpu"]251          })).filter(d => !isNaN(d.step) && !isNaN(d.value));252          253          // Initialize palette and listen for changes254          refreshPalette();255          document.addEventListener('palettes:updated', refreshPalette);256          257          render();258          259          const rerender = () => render();260          if (window.ResizeObserver) { 261            const ro = new ResizeObserver(() => rerender()); 262            ro.observe(container); 263          } else { 264            window.addEventListener('resize', rerender); 265          }266        } catch (e) {267          const pre = document.createElement('pre'); 268          pre.textContent = 'CSV load error: ' + (e && e.message ? 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