lerobot/examples/pretrained.ipynb

{
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  {
   "cell_type": "code",
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   "metadata": {},
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   "source": [
    "from pathlib import Path\n",
    "\n",
    "from IPython.display import Video\n",
    "\n",
    "from examples.notebook_utils import config_notebook\n",
    "from lerobot.scripts.eval import eval\n",
    "\n",
    "# Select policy and env\n",
    "POLICY = \"act\"  # \"tdmpc\" | \"diffusion\"\n",
    "ENV = \"aloha\"  # \"pusht\" | \"simxarm\"\n",
    "\n",
    "# Select device\n",
    "DEVICE = \"mps\"  # \"cpu\" | \"cuda\"\n",
    "\n",
    "# Generated videos will be written here\n",
    "OUT_DIR = Path(\"./outputs\")\n",
    "OUT_EXAMPLE = OUT_DIR / \"eval\" / \"eval_episode_0.mp4\"\n",
    "\n",
    "# Setup config\n",
    "cfg = config_notebook(policy=POLICY, env=ENV, device=DEVICE, print_config=False)\n",
    "print(cfg.env.episode_length)\n",
    "print(cfg.n_action_steps)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "eval(cfg, out_dir=OUT_DIR)\n",
    "Video(OUT_EXAMPLE, embed=True)"
   ]
  }
 ],
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