From c6fb40fb295c580b7f6f3b347859574cd10f3515 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Sat, 9 Mar 2024 16:37:34 +0100 Subject: [PATCH 1/3] Add end-to-end pusht eval test --- .github/workflows/test.yml | 27 +++++++++++++++------------ 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index f99c964b..5215ecac 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -101,19 +101,22 @@ jobs: hydra.job.name=pusht \ env=pusht \ wandb.enable=False \ - offline_steps=1 \ + offline_steps=2 \ online_steps=0 \ - device=cpu - # TODO(rcadene, aliberts): Add end-to-end test of eval checkpoint post training - # - name: Test eval pusht end-to-end - # run: | - # source .venv/bin/activate - # python lerobot/scripts/eval.py - # hydra.job.name=pusht \ - # env=pusht \ - # wandb.enable=False \ - # eval_episodes=1 \ - # device=cpu + device=cpu \ + save_model=true \ + save_freq=1 \ + hydra.run.dir=tests/outputs/ + - name: Test eval pusht end-to-end + run: | + source .venv/bin/activate + python lerobot/scripts/eval.py + hydra.job.name=pusht \ + env=pusht \ + wandb.enable=False \ + eval_episodes=1 \ + device=cpu \ + policy.pretrained_model_path=tests/outputs/models/1.pt #---------------------------------------------- # cleanup #---------------------------------------------- From 30753d879c3a420d35586767ac0a09833e91cc6a Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Sat, 9 Mar 2024 16:41:31 +0100 Subject: [PATCH 2/3] Fix --- .github/workflows/test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 5215ecac..e4aa4a30 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -110,7 +110,7 @@ jobs: - name: Test eval pusht end-to-end run: | source .venv/bin/activate - python lerobot/scripts/eval.py + python lerobot/scripts/eval.py \ hydra.job.name=pusht \ env=pusht \ wandb.enable=False \ From 471ebfef621fc5112bb51bba1345e4a00d4c21c3 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Sat, 9 Mar 2024 16:50:17 +0100 Subject: [PATCH 3/3] Remove cleanup + reduce eval steps --- .github/workflows/test.yml | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index e4aa4a30..0ad773f3 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -115,10 +115,6 @@ jobs: env=pusht \ wandb.enable=False \ eval_episodes=1 \ + env.episode_length=8 \ device=cpu \ policy.pretrained_model_path=tests/outputs/models/1.pt - #---------------------------------------------- - # cleanup - #---------------------------------------------- - - name: Cleanup - run: rm -rf diffusion_policy data