61 lines
2.4 KiB
Python
61 lines
2.4 KiB
Python
|
import argparse
|
||
|
|
import logging
|
||
|
|
from pathlib import Path
|
||
|
|
|
||
|
|
import gym_real_world # noqa: F401
|
||
|
|
import gymnasium as gym # noqa: F401
|
||
|
|
from huggingface_hub import snapshot_download
|
||
|
|
from huggingface_hub.utils._errors import RepositoryNotFoundError
|
||
|
|
from huggingface_hub.utils._validators import HFValidationError
|
||
|
|
|
||
|
|
from lerobot.common.utils.utils import init_logging
|
||
|
|
from lerobot.scripts.eval import eval
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
init_logging()
|
||
|
|
|
||
|
|
parser = argparse.ArgumentParser(
|
||
|
|
description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter
|
||
|
|
)
|
||
|
|
group = parser.add_mutually_exclusive_group(required=True)
|
||
|
|
group.add_argument(
|
||
|
|
"-p",
|
||
|
|
"--pretrained-policy-name-or-path",
|
||
|
|
help=(
|
||
|
|
"Either the repo ID of a model hosted on the Hub or a path to a directory containing weights "
|
||
|
|
"saved using `Policy.save_pretrained`. If not provided, the policy is initialized from scratch "
|
||
|
|
"(useful for debugging). This argument is mutually exclusive with `--config`."
|
||
|
|
),
|
||
|
|
)
|
||
|
|
parser.add_argument("--revision", help="Optionally provide the Hugging Face Hub revision ID.")
|
||
|
|
parser.add_argument(
|
||
|
|
"overrides",
|
||
|
|
nargs="*",
|
||
|
|
help="Any key=value arguments to override config values (use dots for.nested=overrides)",
|
||
|
|
)
|
||
|
|
args = parser.parse_args()
|
||
|
|
|
||
|
|
try:
|
||
|
|
pretrained_policy_path = Path(
|
||
|
|
snapshot_download(args.pretrained_policy_name_or_path, revision=args.revision)
|
||
|
|
)
|
||
|
|
except (HFValidationError, RepositoryNotFoundError) as e:
|
||
|
|
if isinstance(e, HFValidationError):
|
||
|
|
error_message = (
|
||
|
|
"The provided pretrained_policy_name_or_path is not a valid Hugging Face Hub repo ID."
|
||
|
|
)
|
||
|
|
else:
|
||
|
|
error_message = (
|
||
|
|
"The provided pretrained_policy_name_or_path was not found on the Hugging Face Hub."
|
||
|
|
)
|
||
|
|
|
||
|
|
logging.warning(f"{error_message} Treating it as a local directory.")
|
||
|
|
pretrained_policy_path = Path(args.pretrained_policy_name_or_path)
|
||
|
|
if not pretrained_policy_path.is_dir() or not pretrained_policy_path.exists():
|
||
|
|
raise ValueError(
|
||
|
|
"The provided pretrained_policy_name_or_path is not a valid/existing Hugging Face Hub "
|
||
|
|
"repo ID, nor is it an existing local directory."
|
||
|
|
)
|
||
|
|
|
||
|
|
eval(pretrained_policy_path=pretrained_policy_path, config_overrides=args.overrides)
|