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lerobot
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Merge branch 'main' into fix_act_comment

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Alexander Soare 2024-05-30 09:10:30 +01:00 committed by GitHub
parent 19b84ed36e 13310681b1
commit e57db67cc1
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2 changed files with 23 additions and 20 deletions
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2
.github/workflows/nightly-tests.yml vendored
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@ -70,6 +70,8 @@ jobs:
# files: ./coverage.xml # files: ./coverage.xml
# verbose: true # verbose: true
- name: Tests end-to-end - name: Tests end-to-end
env:
DEVICE: cuda
run: make test-end-to-end run: make test-end-to-end
# - name: Generate Report # - name: Generate Report

41
Makefile
View File

@ -10,6 +10,7 @@ endif
export PATH := $(dir $(PYTHON_PATH)):$(PATH) export PATH := $(dir $(PYTHON_PATH)):$(PATH)
DEVICE ?= cpu
build-cpu: build-cpu:
docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile . docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
@ -18,16 +19,16 @@ build-gpu:
docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile . docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
test-end-to-end: test-end-to-end:
${MAKE} test-act-ete-train ${MAKE} DEVICE=$(DEVICE) test-act-ete-train
${MAKE} test-act-ete-eval ${MAKE} DEVICE=$(DEVICE) test-act-ete-eval
${MAKE} test-act-ete-train-amp ${MAKE} DEVICE=$(DEVICE) test-act-ete-train-amp
${MAKE} test-act-ete-eval-amp ${MAKE} DEVICE=$(DEVICE) test-act-ete-eval-amp
${MAKE} test-diffusion-ete-train ${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-train
${MAKE} test-diffusion-ete-eval ${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
${MAKE} test-tdmpc-ete-train ${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
${MAKE} test-tdmpc-ete-eval ${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
${MAKE} test-default-ete-eval ${MAKE} DEVICE=$(DEVICE) test-default-ete-eval
${MAKE} test-act-pusht-tutorial ${MAKE} DEVICE=$(DEVICE) test-act-pusht-tutorial
test-act-ete-train: test-act-ete-train:
python lerobot/scripts/train.py \ python lerobot/scripts/train.py \
@ -39,7 +40,7 @@ test-act-ete-train:
training.online_steps=0 \ training.online_steps=0 \
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
device=cpu \ device=$(DEVICE) \
training.save_checkpoint=true \ training.save_checkpoint=true \
training.save_freq=2 \ training.save_freq=2 \
policy.n_action_steps=20 \ policy.n_action_steps=20 \
@ -53,7 +54,7 @@ test-act-ete-eval:
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
env.episode_length=8 \ env.episode_length=8 \
device=cpu \ device=$(DEVICE) \
test-act-ete-train-amp: test-act-ete-train-amp:
python lerobot/scripts/train.py \ python lerobot/scripts/train.py \
@ -65,7 +66,7 @@ test-act-ete-train-amp:
training.online_steps=0 \ training.online_steps=0 \
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
device=cpu \ device=$(DEVICE) \
training.save_checkpoint=true \ training.save_checkpoint=true \
training.save_freq=2 \ training.save_freq=2 \
policy.n_action_steps=20 \ policy.n_action_steps=20 \
@ -80,7 +81,7 @@ test-act-ete-eval-amp:
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
env.episode_length=8 \ env.episode_length=8 \
device=cpu \ device=$(DEVICE) \
use_amp=true use_amp=true
test-diffusion-ete-train: test-diffusion-ete-train:
@ -95,7 +96,7 @@ test-diffusion-ete-train:
training.online_steps=0 \ training.online_steps=0 \
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
device=cpu \ device=$(DEVICE) \
training.save_checkpoint=true \ training.save_checkpoint=true \
training.save_freq=2 \ training.save_freq=2 \
training.batch_size=2 \ training.batch_size=2 \
@ -107,7 +108,7 @@ test-diffusion-ete-eval:
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
env.episode_length=8 \ env.episode_length=8 \
device=cpu \ device=$(DEVICE) \
# TODO(alexander-soare): Restore online_steps to 2 when it is reinstated. # TODO(alexander-soare): Restore online_steps to 2 when it is reinstated.
test-tdmpc-ete-train: test-tdmpc-ete-train:
@ -122,7 +123,7 @@ test-tdmpc-ete-train:
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
env.episode_length=2 \ env.episode_length=2 \
device=cpu \ device=$(DEVICE) \
training.save_checkpoint=true \ training.save_checkpoint=true \
training.save_freq=2 \ training.save_freq=2 \
training.batch_size=2 \ training.batch_size=2 \
@ -134,7 +135,7 @@ test-tdmpc-ete-eval:
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
env.episode_length=8 \ env.episode_length=8 \
device=cpu \ device=$(DEVICE) \
test-default-ete-eval: test-default-ete-eval:
python lerobot/scripts/eval.py \ python lerobot/scripts/eval.py \
@ -142,7 +143,7 @@ test-default-ete-eval:
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
env.episode_length=8 \ env.episode_length=8 \
device=cpu \ device=$(DEVICE) \
test-act-pusht-tutorial: test-act-pusht-tutorial:
cp examples/advanced/1_train_act_pusht/act_pusht.yaml lerobot/configs/policy/created_by_Makefile.yaml cp examples/advanced/1_train_act_pusht/act_pusht.yaml lerobot/configs/policy/created_by_Makefile.yaml
@ -154,7 +155,7 @@ test-act-pusht-tutorial:
eval.n_episodes=1 \ eval.n_episodes=1 \
eval.batch_size=1 \ eval.batch_size=1 \
env.episode_length=2 \ env.episode_length=2 \
device=cpu \ device=$(DEVICE) \
training.save_model=true \ training.save_model=true \
training.save_freq=2 \ training.save_freq=2 \
training.batch_size=2 \ training.batch_size=2 \