143 lines
4.0 KiB
Makefile
143 lines
4.0 KiB
Makefile
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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.PHONY: tests
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PYTHON_PATH := $(shell which python)
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# If uv is installed and a virtual environment exists, use it
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UV_CHECK := $(shell command -v uv)
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ifneq ($(UV_CHECK),)
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PYTHON_PATH := $(shell .venv/bin/python)
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endif
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export PATH := $(dir $(PYTHON_PATH)):$(PATH)
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DEVICE ?= cpu
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build-cpu:
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docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
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build-gpu:
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docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
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test-end-to-end:
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${MAKE} DEVICE=$(DEVICE) test-act-ete-train
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${MAKE} DEVICE=$(DEVICE) test-act-ete-train-resume
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${MAKE} DEVICE=$(DEVICE) test-act-ete-eval
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${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-train
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${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
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${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
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${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
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test-act-ete-train:
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python lerobot/scripts/train.py \
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--policy.type=act \
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--policy.dim_model=64 \
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--policy.n_action_steps=20 \
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--policy.chunk_size=20 \
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--policy.device=$(DEVICE) \
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--env.type=aloha \
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--env.episode_length=5 \
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--dataset.repo_id=lerobot/aloha_sim_transfer_cube_human \
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--dataset.image_transforms.enable=true \
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--dataset.episodes="[0]" \
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--batch_size=2 \
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--steps=4 \
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--eval_freq=2 \
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--eval.n_episodes=1 \
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--eval.batch_size=1 \
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--save_freq=2 \
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--save_checkpoint=true \
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--log_freq=1 \
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--wandb.enable=false \
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--output_dir=tests/outputs/act/
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test-act-ete-train-resume:
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python lerobot/scripts/train.py \
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--config_path=tests/outputs/act/checkpoints/000002/pretrained_model/train_config.json \
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--resume=true
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test-act-ete-eval:
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python lerobot/scripts/eval.py \
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--policy.path=tests/outputs/act/checkpoints/000004/pretrained_model \
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--policy.device=$(DEVICE) \
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--env.type=aloha \
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--env.episode_length=5 \
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--eval.n_episodes=1 \
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--eval.batch_size=1
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test-diffusion-ete-train:
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python lerobot/scripts/train.py \
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--policy.type=diffusion \
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--policy.down_dims='[64,128,256]' \
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--policy.diffusion_step_embed_dim=32 \
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--policy.num_inference_steps=10 \
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--policy.device=$(DEVICE) \
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--env.type=pusht \
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--env.episode_length=5 \
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--dataset.repo_id=lerobot/pusht \
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--dataset.image_transforms.enable=true \
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--dataset.episodes="[0]" \
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--batch_size=2 \
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--steps=2 \
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--eval_freq=2 \
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--eval.n_episodes=1 \
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--eval.batch_size=1 \
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--save_checkpoint=true \
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--save_freq=2 \
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--log_freq=1 \
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--wandb.enable=false \
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--output_dir=tests/outputs/diffusion/
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test-diffusion-ete-eval:
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python lerobot/scripts/eval.py \
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--policy.path=tests/outputs/diffusion/checkpoints/000002/pretrained_model \
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--policy.device=$(DEVICE) \
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--env.type=pusht \
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--env.episode_length=5 \
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--eval.n_episodes=1 \
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--eval.batch_size=1
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test-tdmpc-ete-train:
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python lerobot/scripts/train.py \
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--policy.type=tdmpc \
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--policy.device=$(DEVICE) \
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--env.type=xarm \
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--env.task=XarmLift-v0 \
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--env.episode_length=5 \
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--dataset.repo_id=lerobot/xarm_lift_medium \
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--dataset.image_transforms.enable=true \
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--dataset.episodes="[0]" \
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--batch_size=2 \
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--steps=2 \
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--eval_freq=2 \
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--eval.n_episodes=1 \
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--eval.batch_size=1 \
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--save_checkpoint=true \
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--save_freq=2 \
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--log_freq=1 \
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--wandb.enable=false \
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--output_dir=tests/outputs/tdmpc/
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test-tdmpc-ete-eval:
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python lerobot/scripts/eval.py \
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--policy.path=tests/outputs/tdmpc/checkpoints/000002/pretrained_model \
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--policy.device=$(DEVICE) \
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--env.type=xarm \
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--env.episode_length=5 \
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--env.task=XarmLift-v0 \
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--eval.n_episodes=1 \
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--eval.batch_size=1
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