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CI nightlies cpu/gpu & cleanup (#75)

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Simon Alibert 2024-04-25 14:58:39 +02:00 committed by GitHub
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# Misc
.git
tmp
wandb
data
outputs
.vscode
rl
media
# Logging
logs
# HPC
nautilus/*.yaml
*.key
# Slurm
sbatch*.sh
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
*.so
# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
pip-wheel-metadata/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec
# Installer logs
pip-log.txt
pip-delete-this-directory.txt
# Unit test / coverage reports
!tests/data
htmlcov/
.tox/
.nox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*.cover
*.py,cover
.hypothesis/
.pytest_cache/
# Translations
*.mo
*.pot
# Django stuff:
*.log
local_settings.py
db.sqlite3
db.sqlite3-journal
# Flask stuff:
instance/
.webassets-cache
# Scrapy stuff:
.scrapy
# Sphinx documentation
docs/_build/
# PyBuilder
target/
# Jupyter Notebook
.ipynb_checkpoints
# IPython
profile_default/
ipython_config.py
# pyenv
.python-version
# pipenv
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
# However, in case of collaboration, if having platform-specific dependencies or dependencies
# having no cross-platform support, pipenv may install dependencies that don't work, or not
# install all needed dependencies.
#Pipfile.lock
# PEP 582; used by e.g. github.com/David-OConnor/pyflow
__pypackages__/
# Celery stuff
celerybeat-schedule
celerybeat.pid
# SageMath parsed files
*.sage.py
# Spyder project settings
.spyderproject
.spyproject
# Rope project settings
.ropeproject
# mkdocs documentation
/site
# mypy
.mypy_cache/
.dmypy.json
dmypy.json
# Pyre type checker
.pyre/

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# What does this PR do?
Example: Fixes # (issue)
Examples:
- Fixes # (issue)
- Adds new dataset
- Optimizes something
## How was it tested?
Examples:
- Added `test_something` in `tests/test_stuff.py`.
- Added `new_feature` and checked that training converges with policy X on dataset/environment Y.
- Optimized `some_function`, it now runs X times faster than previously.
## How to checkout & try? (for the reviewer)
Examples:
```bash
DATA_DIR=tests/data pytest -sx tests/test_stuff.py::test_something
```
```bash
python lerobot/scripts/train.py --some.option=true
```
## Before submitting
- Read the [contributor guideline](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md#submitting-a-pull-request-pr).
- Provide a minimal code example for the reviewer to checkout & try.
- Explain how you tested your changes.
Please read the [contributor guideline](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md#submitting-a-pull-request-pr).
## Who can review?

0
.github/poetry/cpu/poetry.lock → .github/poetry/cpu_DEPRECATED/poetry.lock generated vendored
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.github/poetry/cpu/pyproject.toml → .github/poetry/cpu_DEPRECATED/pyproject.toml vendored
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PYPROJECT = "pyproject.toml"
DEPS = {
"gym-pusht": '{ git = "git@github.com:huggingface/gym-pusht.git", optional = true}',
"gym-xarm": '{ git = "git@github.com:huggingface/gym-xarm.git", optional = true}',
"gym-aloha": '{ git = "git@github.com:huggingface/gym-aloha.git", optional = true}',
}
def update_envs_as_path_dependencies():
with open(PYPROJECT) as file:
lines = file.readlines()
new_lines = []
for line in lines:
if any(dep in line for dep in DEPS.values()):
for dep in DEPS:
if dep in line:
new_line = f'{dep} = {{ path = "envs/{dep}/", optional = true}}\n'
new_lines.append(new_line)
break
else:
new_lines.append(line)
with open(PYPROJECT, "w") as file:
file.writelines(new_lines)
if __name__ == "__main__":
update_envs_as_path_dependencies()

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# Inspired by
# https://github.com/huggingface/peft/blob/main/.github/workflows/build_docker_images.yml
name: Nightly Builds
on:
workflow_dispatch:
workflow_call:
schedule:
- cron: "0 1 * * *"
# concurrency:
# group: docker-image-builds
# cancel-in-progress: false
env:
PYTHON_VERSION: "3.10"
# CI_SLACK_CHANNEL: ${{ secrets.CI_DOCKER_CHANNEL }}
jobs:
latest-cpu:
name: "Build CPU"
runs-on: ubuntu-latest
steps:
- name: Cleanup disk
run: |
sudo df -h
# sudo ls -l /usr/local/lib/
# sudo ls -l /usr/share/
sudo du -sh /usr/local/lib/
sudo du -sh /usr/share/
sudo rm -rf /usr/local/lib/android
sudo rm -rf /usr/share/dotnet
sudo du -sh /usr/local/lib/
sudo du -sh /usr/share/
sudo df -h
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3
- name: Check out code
uses: actions/checkout@v4
- name: Checkout gym-aloha
uses: actions/checkout@v4
with:
repository: huggingface/gym-aloha
path: envs/gym-aloha
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
- name: Checkout gym-xarm
uses: actions/checkout@v4
with:
repository: huggingface/gym-xarm
path: envs/gym-xarm
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
- name: Checkout gym-pusht
uses: actions/checkout@v4
with:
repository: huggingface/gym-pusht
path: envs/gym-pusht
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
# HACK(aliberts): to be removed for release
# -----------------------------------------
- name: Set up Python 3.10
uses: actions/setup-python@v5
with:
python-version: "3.10"
- name: Change envs dependencies as local path
run: python .github/scripts/dep_build.py
# -----------------------------------------
- name: Login to DockerHub
uses: docker/login-action@v3
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and Push CPU
uses: docker/build-push-action@v5
with:
context: .
file: ./docker/lerobot-cpu/Dockerfile
push: true
tags: huggingface/lerobot-cpu
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
# - name: Post to a Slack channel
# id: slack
# #uses: slackapi/slack-github-action@v1.25.0
# uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
# with:
# # Slack channel id, channel name, or user id to post message.
# # See also: https://api.slack.com/methods/chat.postMessage#channels
# channel-id: ${{ env.CI_SLACK_CHANNEL }}
# # For posting a rich message using Block Kit
# payload: |
# {
# "text": "lerobot-cpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
# "blocks": [
# {
# "type": "section",
# "text": {
# "type": "mrkdwn",
# "text": "lerobot-cpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
# }
# }
# ]
# }
# env:
# SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
latest-cuda:
name: "Build GPU"
runs-on: ubuntu-latest
steps:
- name: Cleanup disk
run: |
sudo df -h
# sudo ls -l /usr/local/lib/
# sudo ls -l /usr/share/
sudo du -sh /usr/local/lib/
sudo du -sh /usr/share/
sudo rm -rf /usr/local/lib/android
sudo rm -rf /usr/share/dotnet
sudo du -sh /usr/local/lib/
sudo du -sh /usr/share/
sudo df -h
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3
- name: Check out code
uses: actions/checkout@v4
- name: Checkout gym-aloha
uses: actions/checkout@v4
with:
repository: huggingface/gym-aloha
path: envs/gym-aloha
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
- name: Checkout gym-xarm
uses: actions/checkout@v4
with:
repository: huggingface/gym-xarm
path: envs/gym-xarm
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
- name: Checkout gym-pusht
uses: actions/checkout@v4
with:
repository: huggingface/gym-pusht
path: envs/gym-pusht
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
# HACK(aliberts): to be removed for release
# -----------------------------------------
- name: Set up Python 3.10
uses: actions/setup-python@v5
with:
python-version: "3.10"
- name: Change envs dependencies as local path
run: python .github/scripts/dep_build.py
# -----------------------------------------
- name: Login to DockerHub
uses: docker/login-action@v3
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
- name: Build and Push GPU
uses: docker/build-push-action@v5
with:
context: .
file: ./docker/lerobot-gpu/Dockerfile
push: true
tags: huggingface/lerobot-gpu
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
# - name: Post to a Slack channel
# id: slack
# #uses: slackapi/slack-github-action@v1.25.0
# uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
# with:
# # Slack channel id, channel name, or user id to post message.
# # See also: https://api.slack.com/methods/chat.postMessage#channels
# channel-id: ${{ env.CI_SLACK_CHANNEL }}
# # For posting a rich message using Block Kit
# payload: |
# {
# "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
# "blocks": [
# {
# "type": "section",
# "text": {
# "type": "mrkdwn",
# "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
# }
# }
# ]
# }
# env:
# SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}

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# Inspired by
# https://github.com/huggingface/peft/blob/main/.github/workflows/nightly.yml
name: Nightly Tests
on:
workflow_dispatch:
schedule:
- cron: "0 2 * * *"
env:
DATA_DIR: tests/data
# SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
jobs:
run_all_tests_cpu:
name: "Test CPU"
strategy:
fail-fast: false
runs-on: ubuntu-latest
container:
image: huggingface/lerobot-cpu:latest
options: --shm-size "16gb"
credentials:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Tests
env:
DATA_DIR: tests/data
run: pytest -v --cov=./lerobot --disable-warnings tests
- name: Tests end-to-end
env:
DATA_DIR: tests/data
run: make test-end-to-end
run_all_tests_single_gpu:
name: "Test GPU"
strategy:
fail-fast: false
runs-on: [single-gpu, nvidia-gpu, t4, ci]
env:
CUDA_VISIBLE_DEVICES: "0"
TEST_TYPE: "single_gpu"
container:
image: huggingface/lerobot-gpu:latest
options: --gpus all --shm-size "16gb"
credentials:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_PASSWORD }}
defaults:
run:
shell: bash
working-directory: /lerobot
steps:
- name: Nvidia-smi
run: nvidia-smi
- name: Test
run: pytest -v --cov=./lerobot --cov-report=xml --disable-warnings tests
# TODO(aliberts): Link with HF Codecov account
# - name: Upload coverage reports to Codecov with GitHub Action
# uses: codecov/codecov-action@v4
# with:
# files: ./coverage.xml
# verbose: true
- name: Tests end-to-end
run: make test-end-to-end
- name: Tailscale Wait
if: ${{ failure() || runner.debug == '1' }}
uses: huggingface/tailscale-action@v1
with:
waitForSSH: true
authkey: ${{ secrets.TAILSCALE_SSH_AUTHKEY }}
slackChannel: ${{ secrets.SLACK_CIFEEDBACK_CHANNEL }}
slackToken: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
# - name: Generate Report
# if: always()
# run: |
# pip install slack_sdk tabulate
# python scripts/log_reports.py >> $GITHUB_STEP_SUMMARY

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# name: Tests poetry
# on:
# pull_request:
# branches:
# - main
# push:
# branches:
# - main
# jobs:
# tests:
# runs-on: ubuntu-latest
# env:
# POETRY_VERSION: 1.8.2
# DATA_DIR: tests/data
# MUJOCO_GL: egl
# steps:
# #----------------------------------------------
# # check-out repo and set-up python
# #----------------------------------------------
# - name: Check out repository
# uses: actions/checkout@v4
# with:
# lfs: true
# - name: Set up python
# id: setup-python
# uses: actions/setup-python@v5
# with:
# python-version: '3.10'
# - name: Add SSH key for installing envs
# uses: webfactory/ssh-agent@v0.9.0
# with:
# ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
# #----------------------------------------------
# # install & configure poetry
# #----------------------------------------------
# - name: Load cached Poetry installation
# id: restore-poetry-cache
# uses: actions/cache/restore@v3
# with:
# path: ~/.local
# key: poetry-${{ env.POETRY_VERSION }}
# - name: Install Poetry
# if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
# uses: snok/install-poetry@v1
# with:
# version: ${{ env.POETRY_VERSION }}
# virtualenvs-create: true
# installer-parallel: true
# - name: Save cached Poetry installation
# if: |
# steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
# github.ref_name == 'main'
# id: save-poetry-cache
# uses: actions/cache/save@v3
# with:
# path: ~/.local
# key: poetry-${{ env.POETRY_VERSION }}
# - name: Configure Poetry
# run: poetry config virtualenvs.in-project true
# #----------------------------------------------
# # install dependencies
# #----------------------------------------------
# # TODO(aliberts): move to gpu runners
# - name: Select cpu dependencies # HACK
# run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
# - name: Load cached venv
# id: restore-dependencies-cache
# uses: actions/cache/restore@v3
# with:
# path: .venv
# key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
# - name: Install dependencies
# if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
# run: poetry install --no-interaction --no-root --all-extras
# - name: Save cached venv
# if: |
# steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
# github.ref_name == 'main'
# id: save-dependencies-cache
# uses: actions/cache/save@v3
# with:
# path: .venv
# key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
# - name: Install EGL
# run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
# #----------------------------------------------
# # install project
# #----------------------------------------------
# - name: Install project
# run: poetry install --no-interaction --all-extras
# #----------------------------------------------
# # run tests & coverage
# #----------------------------------------------
# - name: Run tests
# run: |
# source .venv/bin/activate
# pytest -v --cov=./lerobot tests
# #----------------------------------------------
# # run end-to-end tests
# #----------------------------------------------
# - name: Tests end-to-end
# run: |
# source .venv/bin/activate
# make test-end-to-end

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@ -4,210 +4,43 @@ on:
pull_request:
branches:
- main
types: [opened, synchronize, reopened, labeled]
push:
branches:
- main
jobs:
tests:
if: |
${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} ||
${{ github.event_name == 'push' }}
runs-on: ubuntu-latest
env:
POETRY_VERSION: 1.8.2
DATA_DIR: tests/data
MUJOCO_GL: egl
steps:
#----------------------------------------------
# check-out repo and set-up python
#----------------------------------------------
- name: Check out repository
uses: actions/checkout@v4
with:
lfs: true
- name: Set up python
id: setup-python
uses: actions/setup-python@v5
with:
python-version: '3.10'
- name: Add SSH key for installing envs
uses: webfactory/ssh-agent@v0.9.0
with:
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
#----------------------------------------------
# install & configure poetry
#----------------------------------------------
- name: Load cached Poetry installation
id: restore-poetry-cache
uses: actions/cache/restore@v3
- uses: actions/checkout@v4
with:
path: ~/.local
key: poetry-${{ env.POETRY_VERSION }}
lfs: true
- name: Install Poetry
if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
uses: snok/install-poetry@v1
- name: Set up Python 3.10
uses: actions/setup-python@v5
with:
version: ${{ env.POETRY_VERSION }}
virtualenvs-create: true
installer-parallel: true
python-version: "3.10"
cache: ${{ (github.ref == 'refs/heads/main') && 'pip' || '' }}
cache-dependency-path: pyproject.toml
- name: Save cached Poetry installation
if: |
steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
github.ref_name == 'main'
id: save-poetry-cache
uses: actions/cache/save@v3
with:
path: ~/.local
key: poetry-${{ env.POETRY_VERSION }}
- name: Configure Poetry
run: poetry config virtualenvs.in-project true
#----------------------------------------------
# install dependencies
#----------------------------------------------
# TODO(aliberts): move to gpu runners
- name: Select cpu dependencies # HACK
run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
- name: Load cached venv
id: restore-dependencies-cache
uses: actions/cache/restore@v3
with:
path: .venv
key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
- name: Install dependencies
if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
env:
TMPDIR: ~/tmp
TEMP: ~/tmp
TMP: ~/tmp
run: |
mkdir ~/tmp
poetry install --no-interaction --no-root --all-extras
- name: Save cached venv
if: |
steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
github.ref_name == 'main'
id: save-dependencies-cache
uses: actions/cache/save@v3
with:
path: .venv
key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
- name: Install libegl1-mesa-dev (to use MUJOCO_GL=egl)
- name: Install EGL
run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
#----------------------------------------------
# install project
#----------------------------------------------
- name: Install project
run: poetry install --no-interaction --all-extras
#----------------------------------------------
# run tests & coverage
#----------------------------------------------
- name: Run tests
- name: Install pip dependencies
run: |
source .venv/bin/activate
pytest -v --cov=./lerobot --cov-report=xml tests
python -m pip install --upgrade pip
pip install -e ".[test, aloha, xarm, pusht]"
# TODO(aliberts): Link with HF Codecov account
# - name: Upload coverage reports to Codecov with GitHub Action
# uses: codecov/codecov-action@v4
# with:
# files: ./coverage.xml
# verbose: true
- name: Test with pytest
run: pytest -v --cov=./lerobot tests
#----------------------------------------------
# run end-to-end tests
#----------------------------------------------
- name: Test train ACT on ALOHA end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/train.py \
policy=act \
env=aloha \
wandb.enable=False \
offline_steps=2 \
online_steps=0 \
eval_episodes=1 \
device=cpu \
save_model=true \
save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/act/
- name: Test eval ACT on ALOHA end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config tests/outputs/act/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/act/models/2.pt
- name: Test train Diffusion on PushT end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/train.py \
policy=diffusion \
env=pusht \
wandb.enable=False \
offline_steps=2 \
online_steps=0 \
eval_episodes=1 \
device=cpu \
save_model=true \
save_freq=2 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/diffusion/
- name: Test eval Diffusion on PushT end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config tests/outputs/diffusion/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
- name: Test train TDMPC on Simxarm end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/train.py \
policy=tdmpc \
env=xarm \
wandb.enable=False \
offline_steps=1 \
online_steps=2 \
eval_episodes=1 \
env.episode_length=2 \
device=cpu \
save_model=true \
save_freq=2 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/tdmpc/
- name: Test eval TDMPC on Simxarm end-to-end
run: |
source .venv/bin/activate
python lerobot/scripts/eval.py \
--config tests/outputs/tdmpc/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
- name: Test end-to-end
run: make test-end-to-end

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@ -0,0 +1,84 @@
.PHONY: tests
build-cpu:
docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
build-gpu:
docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
test-end-to-end:
${MAKE} test-act-ete-train
${MAKE} test-act-ete-eval
${MAKE} test-diffusion-ete-train
${MAKE} test-diffusion-ete-eval
${MAKE} test-tdmpc-ete-train
${MAKE} test-tdmpc-ete-eval
test-act-ete-train:
python lerobot/scripts/train.py \
policy=act \
env=aloha \
wandb.enable=False \
offline_steps=2 \
online_steps=0 \
eval_episodes=1 \
device=cpu \
save_model=true \
save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/act/
test-act-ete-eval:
python lerobot/scripts/eval.py \
--config tests/outputs/act/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/act/models/2.pt
test-diffusion-ete-train:
python lerobot/scripts/train.py \
policy=diffusion \
env=pusht \
wandb.enable=False \
offline_steps=2 \
online_steps=0 \
eval_episodes=1 \
device=cpu \
save_model=true \
save_freq=2 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/diffusion/
test-diffusion-ete-eval:
python lerobot/scripts/eval.py \
--config tests/outputs/diffusion/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
test-tdmpc-ete-train:
python lerobot/scripts/train.py \
policy=tdmpc \
env=xarm \
wandb.enable=False \
offline_steps=1 \
online_steps=2 \
eval_episodes=1 \
env.episode_length=2 \
device=cpu \
save_model=true \
save_freq=2 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/tdmpc/
test-tdmpc-ete-eval:
python lerobot/scripts/eval.py \
--config tests/outputs/tdmpc/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt

31
docker/lerobot-cpu/Dockerfile Normal file
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@ -0,0 +1,31 @@
# Configure image
ARG PYTHON_VERSION=3.10
FROM python:${PYTHON_VERSION}-slim
ARG PYTHON_VERSION
ARG DEBIAN_FRONTEND=noninteractive
# Install apt dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential cmake \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
# Create virtual environment
RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
RUN python -m venv /opt/venv
ENV PATH="/opt/venv/bin:$PATH"
RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
# Install LeRobot
COPY . /lerobot
WORKDIR /lerobot
RUN pip install --upgrade --no-cache-dir pip
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]" \
--extra-index-url https://download.pytorch.org/whl/cpu
# Set EGL as the rendering backend for MuJoCo
ENV MUJOCO_GL="egl"
# Execute in bash shell rather than python
CMD ["/bin/bash"]

29
docker/lerobot-gpu/Dockerfile Normal file
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@ -0,0 +1,29 @@
FROM nvidia/cuda:12.4.1-base-ubuntu22.04
# Configure image
ARG PYTHON_VERSION=3.10
ARG DEBIAN_FRONTEND=noninteractive
# Install apt dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential cmake \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
# Create virtual environment
RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
RUN python -m venv /opt/venv
ENV PATH="/opt/venv/bin:$PATH"
RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
# Install LeRobot
COPY . /lerobot
WORKDIR /lerobot
RUN pip install --upgrade --no-cache-dir pip
RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht]"
# Set EGL as the rendering backend for MuJoCo
ENV MUJOCO_GL="egl"

3
poetry.lock generated
View File

@ -1164,7 +1164,7 @@ mujoco = "^2.3.7"
type = "git"
url = "git@github.com:huggingface/gym-xarm.git"
reference = "HEAD"
resolved_reference = "6a88f7d63833705dfbec4b997bf36cac6b4a448c"
resolved_reference = "27e65c981f9a8d252eca8f157f83508ba6149db7"
[[package]]
name = "gymnasium"
@ -2909,6 +2909,7 @@ files = [
{file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
{file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
{file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
{file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a08c6f0fe150303c1c6b71ebcd7213c2858041a7e01975da3a99aed1e7a378ef"},
{file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
{file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
{file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},

5
tests/conftest.py Normal file
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@ -0,0 +1,5 @@
from .utils import DEVICE
def pytest_collection_finish():
print(f"\nTesting with {DEVICE=}")