2024-02-22 21:04:32 +08:00
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#!/bin/bash
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#SBATCH --nodes=1 # total number of nodes (N to be defined)
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#SBATCH --ntasks-per-node=1 # number of tasks per node (here 8 tasks, or 1 task per GPU)
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#SBATCH --gres=gpu:1 # number of GPUs reserved per node (here 8, or all the GPUs)
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2024-03-05 06:41:47 +08:00
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#SBATCH --cpus-per-task=8 # number of cores per task (8x8 = 64 cores, or all the cores)
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#SBATCH --time=2-00:00:00
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#SBATCH --output=/home/rcadene/slurm/%j.out
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#SBATCH --error=/home/rcadene/slurm/%j.err
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#SBATCH --qos=medium
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#SBATCH --mail-user=re.cadene@gmail.com
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2024-02-22 21:04:32 +08:00
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#SBATCH --mail-type=ALL
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CMD=$@
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echo "command: $CMD"
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2024-03-05 06:41:47 +08:00
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apptainer exec --nv \
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~/apptainer/nvidia_cuda:12.2.2-devel-ubuntu22.04.sif $SHELL
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2024-02-22 21:04:32 +08:00
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2024-03-05 06:41:47 +08:00
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source ~/.bashrc
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Add Aloha env and ACT policy
WIP Aloha env tests pass
Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])
Update README
Copy past from act repo
Remove download.py add a WIP for Simxarm
Remove download.py add a WIP for Simxarm
Add act yaml (TODO: try train.py)
Training can runs (TODO: eval)
Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)
Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)
poetry lock
fix bug in compute_stats for action normalization
fix more bugs in normalization
fix training
fix import
PushtEnv inheriates AbstractEnv, Improve factory Normalization
Add _make_env to EnvAbstract
Add call_rendering_hooks to pusht env
SimxarmEnv inherites from AbstractEnv (NOT TESTED)
Add aloha tests artifacts + update pusht stats
fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]
Small fix on simxarm
Add next to obs
Add top camera to Aloha env (TODO: make it compatible with set of cameras)
Add top camera to Aloha env (TODO: make it compatible with set of cameras)
2024-03-08 17:47:39 +08:00
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#conda activate fowm
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conda activate lerobot
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2024-02-29 20:37:48 +08:00
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2024-02-22 21:04:32 +08:00
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srun $CMD
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