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lerobot
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[pre-commit.ci] auto fixes from pre-commit.com hooks 

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pre-commit-ci[bot] 2025-04-03 05:57:51 +00:00
parent 31788f65dd
commit a0510c0f5e
2 changed files with 9 additions and 5 deletions
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8
lerobot/common/optim/schedulers.py
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@ -109,13 +109,16 @@ class CosineDecayWithWarmupSchedulerConfig(LRSchedulerConfig):
return cosine_decay_schedule(current_step) return cosine_decay_schedule(current_step)
return LambdaLR(optimizer, lr_lambda, -1) return LambdaLR(optimizer, lr_lambda, -1)
@LRSchedulerConfig.register_subclass("constant_with_warmup") @LRSchedulerConfig.register_subclass("constant_with_warmup")
@dataclass @dataclass
class ConstantWithWarmupSchedulerConfig(LRSchedulerConfig): class ConstantWithWarmupSchedulerConfig(LRSchedulerConfig):
"""Used by DexVLA to train Stage2""" """Used by DexVLA to train Stage2"""
num_warmup_steps: int
def build(self, optimizer: Optimizer, num_training_steps: int) -> LambdaLR:
num_warmup_steps: int
def build(self, optimizer: Optimizer, num_training_steps: int) -> LambdaLR:
def lr_lambda(current_step): def lr_lambda(current_step):
def linear_warmup_schedule(current_step): def linear_warmup_schedule(current_step):
if current_step <= 0: if current_step <= 0:
@ -133,6 +136,7 @@ class ConstantWithWarmupSchedulerConfig(LRSchedulerConfig):
return LambdaLR(optimizer, lr_lambda, -1) return LambdaLR(optimizer, lr_lambda, -1)
def save_scheduler_state(scheduler: LRScheduler, save_dir: Path) -> None: def save_scheduler_state(scheduler: LRScheduler, save_dir: Path) -> None:
state_dict = scheduler.state_dict() state_dict = scheduler.state_dict()
write_json(state_dict, save_dir / SCHEDULER_STATE) write_json(state_dict, save_dir / SCHEDULER_STATE)

6
lerobot/common/policies/dexvla/README.md
View File

@ -90,7 +90,7 @@ python lerobot/scripts/train.py \
--output_dir /path/to/output \ --output_dir /path/to/output \
--steps 10000 \ --steps 10000 \
--save_freq 1000 \ --save_freq 1000 \
--optimizer_lr 2e-5 --optimizer_lr 2e-5
~~~ ~~~
### Training Stage 3 ### Training Stage 3
@ -108,7 +108,7 @@ python lerobot/scripts/train.py \
--output_dir /path/to/output \ --output_dir /path/to/output \
--steps 10000 \ --steps 10000 \
--save_freq 1000 \ --save_freq 1000 \
--optimizer_lr 2e-5 --optimizer_lr 2e-5
~~~ ~~~
### Training Time ### Training Time
@ -133,7 +133,7 @@ python lerobot/scripts/eval.py \
--policy.qwen2_vl_path /path/to/official/Qwen2-VL-2B-Instruct \ --policy.qwen2_vl_path /path/to/official/Qwen2-VL-2B-Instruct \
--env.task AlohaInsertion-v0 \ --env.task AlohaInsertion-v0 \
--eval.n_episodes 1 \ --eval.n_episodes 1 \
--eval.batch_size 1 --eval.batch_size 1
~~~ ~~~
### Inference Speed ### Inference Speed