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lerobot
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add amp to eval script

This commit is contained in:
Alexander Soare 2024-05-20 13:14:00 +01:00
parent b059759824
commit 39b6fcbe1e
1 changed files with 13 additions and 11 deletions
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24
lerobot/scripts/eval.py
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@ -46,6 +46,7 @@ import json
import logging import logging
import threading import threading
import time import time
from contextlib import nullcontext
from copy import deepcopy from copy import deepcopy
from datetime import datetime as dt from datetime import datetime as dt
from pathlib import Path from pathlib import Path
@ -520,7 +521,7 @@ def eval(
raise NotImplementedError() raise NotImplementedError()
# Check device is available # Check device is available
get_safe_torch_device(hydra_cfg.device, log=True) device = get_safe_torch_device(hydra_cfg.device, log=True)
torch.backends.cudnn.benchmark = True torch.backends.cudnn.benchmark = True
torch.backends.cuda.matmul.allow_tf32 = True torch.backends.cuda.matmul.allow_tf32 = True
@ -539,16 +540,17 @@ def eval(
policy = make_policy(hydra_cfg=hydra_cfg, dataset_stats=make_dataset(hydra_cfg).stats) policy = make_policy(hydra_cfg=hydra_cfg, dataset_stats=make_dataset(hydra_cfg).stats)
policy.eval() policy.eval()
info = eval_policy( with torch.no_grad(), torch.autocast(device_type=device.type) if hydra_cfg.use_amp else nullcontext():
env, info = eval_policy(
policy, env,
hydra_cfg.eval.n_episodes, policy,
max_episodes_rendered=10, hydra_cfg.eval.n_episodes,
video_dir=Path(out_dir) / "eval", max_episodes_rendered=10,
start_seed=hydra_cfg.seed, video_dir=Path(out_dir) / "eval",
enable_progbar=True, start_seed=hydra_cfg.seed,
enable_inner_progbar=True, enable_progbar=True,
) enable_inner_progbar=True,
)
print(info["aggregated"]) print(info["aggregated"])
# Save info # Save info