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lerobot/Makefile

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CI nightlies cpu/gpu & cleanup (#75)
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.PHONY: tests
More CI cleanup, add style workflow (#107) - Changes on the `test.yml` workflow: - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`. - Reduce the trigger scope to only run when files in these directories are modified: - `lerobot/` - `tests/` - `examples/` - `.github/` - Add `style.yml` workflow for doing a `ruff check` pass on the code - More cleanup (removed deprecated workflow)
2024-04-27 15:37:56 +08:00
PYTHON_PATH := $(shell which python)
# If Poetry is installed, redefine PYTHON_PATH to use the Poetry-managed Python
POETRY_CHECK := $(shell command -v poetry)
ifneq ($(POETRY_CHECK),)
FIx make_dataset to match transforms config (#264) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 01:45:42 +08:00
PYTHON_PATH := $(shell poetry run which python)
More CI cleanup, add style workflow (#107) - Changes on the `test.yml` workflow: - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`. - Reduce the trigger scope to only run when files in these directories are modified: - `lerobot/` - `tests/` - `examples/` - `.github/` - Add `style.yml` workflow for doing a `ruff check` pass on the code - More cleanup (removed deprecated workflow)
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endif
export PATH := $(dir $(PYTHON_PATH)):$(PATH)
Enable cuda for end-to-end tests (#222)
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DEVICE ?= cpu
More CI cleanup, add style workflow (#107) - Changes on the `test.yml` workflow: - Using poetry instead of pip. Contrary to what I wrote in #75, it is possible to use poetry (and have the benefits of shorter install times) without the need for having two separate versions of `pyproject.toml` and `poetry.lock`. - Reduce the trigger scope to only run when files in these directories are modified: - `lerobot/` - `tests/` - `examples/` - `.github/` - Add `style.yml` workflow for doing a `ruff check` pass on the code - More cleanup (removed deprecated workflow)
2024-04-27 15:37:56 +08:00
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
build-cpu:
docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
build-gpu:
docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
test-end-to-end:
Enable cuda for end-to-end tests (#222)
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${MAKE} DEVICE=$(DEVICE) test-act-ete-train
${MAKE} DEVICE=$(DEVICE) test-act-ete-eval
${MAKE} DEVICE=$(DEVICE) test-act-ete-train-amp
${MAKE} DEVICE=$(DEVICE) test-act-ete-eval-amp
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-train
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
Add online training with TD-MPC as proof of concept (#338)
2024-07-25 18:16:38 +08:00
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train-with-online
Enable cuda for end-to-end tests (#222)
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${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
${MAKE} DEVICE=$(DEVICE) test-default-ete-eval
${MAKE} DEVICE=$(DEVICE) test-act-pusht-tutorial
CI nightlies cpu/gpu & cleanup (#75)
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test-act-ete-train:
python lerobot/scripts/train.py \
policy=act \
Add Automatic Mixed Precision option for training and evaluation. (#199)
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policy.dim_model=64 \
CI nightlies cpu/gpu & cleanup (#75)
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env=aloha \
wandb.enable=False \
Tidy up yaml configs (#121)
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training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
Refactor eval.py (#127)
2024-05-04 00:33:16 +08:00
eval.batch_size=1 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 19:04:23 +08:00
training.save_checkpoint=true \
Tidy up yaml configs (#121)
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training.save_freq=2 \
CI nightlies cpu/gpu & cleanup (#75)
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policy.n_action_steps=20 \
policy.chunk_size=20 \
Tidy up yaml configs (#121)
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training.batch_size=2 \
FIx make_dataset to match transforms config (#264) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 01:45:42 +08:00
training.image_transforms.enable=true \
CI nightlies cpu/gpu & cleanup (#75)
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hydra.run.dir=tests/outputs/act/
test-act-ete-eval:
python lerobot/scripts/eval.py \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
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-p tests/outputs/act/checkpoints/000002/pretrained_model \
Tidy up yaml configs (#121)
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eval.n_episodes=1 \
Refactor eval.py (#127)
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eval.batch_size=1 \
CI nightlies cpu/gpu & cleanup (#75)
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env.episode_length=8 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
Add Automatic Mixed Precision option for training and evaluation. (#199)
2024-05-21 01:57:54 +08:00
test-act-ete-train-amp:
python lerobot/scripts/train.py \
policy=act \
policy.dim_model=64 \
env=aloha \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 19:04:23 +08:00
training.save_checkpoint=true \
Add Automatic Mixed Precision option for training and evaluation. (#199)
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training.save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
training.batch_size=2 \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 19:04:23 +08:00
hydra.run.dir=tests/outputs/act_amp/ \
FIx make_dataset to match transforms config (#264) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 01:45:42 +08:00
training.image_transforms.enable=true \
Add Automatic Mixed Precision option for training and evaluation. (#199)
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use_amp=true
test-act-ete-eval-amp:
python lerobot/scripts/eval.py \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
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-p tests/outputs/act_amp/checkpoints/000002/pretrained_model \
Add Automatic Mixed Precision option for training and evaluation. (#199)
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eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Add Automatic Mixed Precision option for training and evaluation. (#199)
2024-05-21 01:57:54 +08:00
use_amp=true
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
test-diffusion-ete-train:
python lerobot/scripts/train.py \
policy=diffusion \
Add Automatic Mixed Precision option for training and evaluation. (#199)
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policy.down_dims=\[64,128,256\] \
policy.diffusion_step_embed_dim=32 \
policy.num_inference_steps=10 \
CI nightlies cpu/gpu & cleanup (#75)
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env=pusht \
wandb.enable=False \
Tidy up yaml configs (#121)
2024-04-30 23:08:59 +08:00
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
Refactor eval.py (#127)
2024-05-04 00:33:16 +08:00
eval.batch_size=1 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 19:04:23 +08:00
training.save_checkpoint=true \
Tidy up yaml configs (#121)
2024-04-30 23:08:59 +08:00
training.save_freq=2 \
training.batch_size=2 \
FIx make_dataset to match transforms config (#264) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 01:45:42 +08:00
training.image_transforms.enable=true \
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
hydra.run.dir=tests/outputs/diffusion/
test-diffusion-ete-eval:
python lerobot/scripts/eval.py \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 19:04:23 +08:00
-p tests/outputs/diffusion/checkpoints/000002/pretrained_model \
Tidy up yaml configs (#121)
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eval.n_episodes=1 \
Refactor eval.py (#127)
2024-05-04 00:33:16 +08:00
eval.batch_size=1 \
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
env.episode_length=8 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
test-tdmpc-ete-train:
python lerobot/scripts/train.py \
policy=tdmpc \
env=xarm \
Refactor TD-MPC (#103) Co-authored-by: Cadene <re.cadene@gmail.com> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-01 23:40:04 +08:00
env.task=XarmLift-v0 \
Enable tests for TD-MPC (#160)
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dataset_repo_id=lerobot/xarm_lift_medium \
CI nightlies cpu/gpu & cleanup (#75)
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wandb.enable=False \
Refactor TD-MPC (#103) Co-authored-by: Cadene <re.cadene@gmail.com> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-05-01 23:40:04 +08:00
training.offline_steps=2 \
Disable online training (#202) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-21 01:27:54 +08:00
training.online_steps=0 \
Tidy up yaml configs (#121)
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eval.n_episodes=1 \
Refactor eval.py (#127)
2024-05-04 00:33:16 +08:00
eval.batch_size=1 \
CI nightlies cpu/gpu & cleanup (#75)
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env.episode_length=2 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 19:04:23 +08:00
training.save_checkpoint=true \
Tidy up yaml configs (#121)
2024-04-30 23:08:59 +08:00
training.save_freq=2 \
training.batch_size=2 \
FIx make_dataset to match transforms config (#264) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 01:45:42 +08:00
training.image_transforms.enable=true \
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
hydra.run.dir=tests/outputs/tdmpc/
Add online training with TD-MPC as proof of concept (#338)
2024-07-25 18:16:38 +08:00
test-tdmpc-ete-train-with-online:
python lerobot/scripts/train.py \
env=pusht \
env.gym.obs_type=environment_state_agent_pos \
policy=tdmpc_pusht_keypoints \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=10 \
device=$(DEVICE) \
training.offline_steps=2 \
training.online_steps=20 \
training.save_checkpoint=false \
training.save_freq=10 \
training.batch_size=2 \
training.online_rollout_n_episodes=2 \
training.online_rollout_batch_size=2 \
training.online_steps_between_rollouts=10 \
training.online_buffer_capacity=15 \
eval.use_async_envs=true \
hydra.run.dir=tests/outputs/tdmpc_online/
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
test-tdmpc-ete-eval:
python lerobot/scripts/eval.py \
Add resume training (#205) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-28 19:04:23 +08:00
-p tests/outputs/tdmpc/checkpoints/000002/pretrained_model \
Use PytorchModelHubMixin to save models as safetensors (#125) Co-authored-by: Remi <re.cadene@gmail.com>
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eval.n_episodes=1 \
Refactor eval.py (#127)
2024-05-04 00:33:16 +08:00
eval.batch_size=1 \
Use PytorchModelHubMixin to save models as safetensors (#125) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-01 23:17:18 +08:00
env.episode_length=8 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Use PytorchModelHubMixin to save models as safetensors (#125) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-01 23:17:18 +08:00
test-default-ete-eval:
python lerobot/scripts/eval.py \
--config lerobot/configs/default.yaml \
Tidy up yaml configs (#121)
2024-04-30 23:08:59 +08:00
eval.n_episodes=1 \
Refactor eval.py (#127)
2024-05-04 00:33:16 +08:00
eval.batch_size=1 \
CI nightlies cpu/gpu & cleanup (#75)
2024-04-25 20:58:39 +08:00
env.episode_length=8 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Add tutorials for using the training script and (#196) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-21 23:47:49 +08:00
test-act-pusht-tutorial:
cp examples/advanced/1_train_act_pusht/act_pusht.yaml lerobot/configs/policy/created_by_Makefile.yaml
python lerobot/scripts/train.py \
policy=created_by_Makefile.yaml \
env=pusht \
wandb.enable=False \
training.offline_steps=2 \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=2 \
Enable cuda for end-to-end tests (#222)
2024-05-30 05:02:23 +08:00
device=$(DEVICE) \
Add tutorials for using the training script and (#196) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-21 23:47:49 +08:00
training.save_model=true \
training.save_freq=2 \
training.batch_size=2 \
FIx make_dataset to match transforms config (#264) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
2024-06-13 01:45:42 +08:00
training.image_transforms.enable=true \
Add tutorials for using the training script and (#196) Co-authored-by: Remi <re.cadene@gmail.com>
2024-05-21 23:47:49 +08:00
hydra.run.dir=tests/outputs/act_pusht/
rm lerobot/configs/policy/created_by_Makefile.yaml