85 lines
2.0 KiB
Makefile
85 lines
2.0 KiB
Makefile
.PHONY: tests
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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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${MAKE} test-act-ete-train
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${MAKE} test-act-ete-eval
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${MAKE} test-diffusion-ete-train
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${MAKE} test-diffusion-ete-eval
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${MAKE} test-tdmpc-ete-train
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${MAKE} 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=act \
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env=aloha \
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wandb.enable=False \
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offline_steps=2 \
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online_steps=0 \
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eval_episodes=1 \
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device=cpu \
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save_model=true \
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save_freq=2 \
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policy.n_action_steps=20 \
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policy.chunk_size=20 \
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policy.batch_size=2 \
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hydra.run.dir=tests/outputs/act/
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test-act-ete-eval:
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python lerobot/scripts/eval.py \
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--config tests/outputs/act/.hydra/config.yaml \
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eval_episodes=1 \
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env.episode_length=8 \
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device=cpu \
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policy.pretrained_model_path=tests/outputs/act/models/2.pt
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test-diffusion-ete-train:
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python lerobot/scripts/train.py \
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policy=diffusion \
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env=pusht \
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wandb.enable=False \
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offline_steps=2 \
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online_steps=0 \
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eval_episodes=1 \
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device=cpu \
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save_model=true \
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save_freq=2 \
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policy.batch_size=2 \
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hydra.run.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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--config tests/outputs/diffusion/.hydra/config.yaml \
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eval_episodes=1 \
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env.episode_length=8 \
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device=cpu \
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policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
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test-tdmpc-ete-train:
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python lerobot/scripts/train.py \
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policy=tdmpc \
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env=xarm \
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wandb.enable=False \
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offline_steps=1 \
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online_steps=2 \
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eval_episodes=1 \
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env.episode_length=2 \
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device=cpu \
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save_model=true \
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save_freq=2 \
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policy.batch_size=2 \
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hydra.run.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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--config tests/outputs/tdmpc/.hydra/config.yaml \
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eval_episodes=1 \
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env.episode_length=8 \
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device=cpu \
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policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
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