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Simplify configs (#550)

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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
This commit is contained in:
Simon Alibert
2025-01-31 13:57:37 +01:00
committed by GitHub
parent 1ee1acf8ad
commit 3c0a209f9f
119 changed files with 5761 additions and 5466 deletions
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Makefile
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@@ -20,171 +20,136 @@ build-gpu:
test-end-to-end:
${MAKE} DEVICE=$(DEVICE) test-act-ete-train
${MAKE} DEVICE=$(DEVICE) test-act-ete-train-resume
${MAKE} DEVICE=$(DEVICE) test-act-ete-eval
${MAKE} DEVICE=$(DEVICE) test-act-ete-train-amp
${MAKE} DEVICE=$(DEVICE) test-act-ete-eval-amp
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-train
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train-with-online
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
${MAKE} DEVICE=$(DEVICE) test-default-ete-eval
${MAKE} DEVICE=$(DEVICE) test-act-pusht-tutorial
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train-with-online
test-act-ete-train:
python lerobot/scripts/train.py \
policy=act \
policy.dim_model=64 \
env=aloha \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
training.batch_size=2 \
training.image_transforms.enable=true \
hydra.run.dir=tests/outputs/act/
--policy.type=act \
--policy.dim_model=64 \
--policy.n_action_steps=20 \
--policy.chunk_size=20 \
--env.type=aloha \
--env.episode_length=5 \
--dataset.repo_id=lerobot/aloha_sim_transfer_cube_human \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--offline.steps=4 \
--online.steps=0 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--save_freq=2 \
--save_checkpoint=true \
--log_freq=1 \
--wandb.enable=false \
--device=$(DEVICE) \
--output_dir=tests/outputs/act/
test-act-ete-train-resume:
python lerobot/scripts/train.py \
--config_path=tests/outputs/act/checkpoints/000002/pretrained_model/train_config.json \
--resume=true
test-act-ete-eval:
python lerobot/scripts/eval.py \
-p tests/outputs/act/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
test-act-ete-train-amp:
python lerobot/scripts/train.py \
policy=act \
policy.dim_model=64 \
env=aloha \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
training.batch_size=2 \
hydra.run.dir=tests/outputs/act_amp/ \
training.image_transforms.enable=true \
use_amp=true
test-act-ete-eval-amp:
python lerobot/scripts/eval.py \
-p tests/outputs/act_amp/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
use_amp=true
--policy.path=tests/outputs/act/checkpoints/000004/pretrained_model \
--env.type=aloha \
--env.episode_length=5 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE)
test-diffusion-ete-train:
python lerobot/scripts/train.py \
policy=diffusion \
policy.down_dims=\[64,128,256\] \
policy.diffusion_step_embed_dim=32 \
policy.num_inference_steps=10 \
env=pusht \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
training.batch_size=2 \
training.image_transforms.enable=true \
hydra.run.dir=tests/outputs/diffusion/
--policy.type=diffusion \
--policy.down_dims='[64,128,256]' \
--policy.diffusion_step_embed_dim=32 \
--policy.num_inference_steps=10 \
--env.type=pusht \
--env.episode_length=5 \
--dataset.repo_id=lerobot/pusht \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--offline.steps=2 \
--online.steps=0 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--save_checkpoint=true \
--save_freq=2 \
--log_freq=1 \
--wandb.enable=false \
--device=$(DEVICE) \
--output_dir=tests/outputs/diffusion/
test-diffusion-ete-eval:
python lerobot/scripts/eval.py \
-p tests/outputs/diffusion/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
--policy.path=tests/outputs/diffusion/checkpoints/000002/pretrained_model \
--env.type=pusht \
--env.episode_length=5 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE)
test-tdmpc-ete-train:
python lerobot/scripts/train.py \
policy=tdmpc \
env=xarm \
env.task=XarmLift-v0 \
dataset_repo_id=lerobot/xarm_lift_medium \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=2 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
training.batch_size=2 \
training.image_transforms.enable=true \
hydra.run.dir=tests/outputs/tdmpc/
test-tdmpc-ete-train-with-online:
python lerobot/scripts/train.py \
env=pusht \
env.gym.obs_type=environment_state_agent_pos \
policy=tdmpc_pusht_keypoints \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=10 \
device=$(DEVICE) \
training.offline_steps=2 \
training.online_steps=20 \
training.save_checkpoint=false \
training.save_freq=10 \
training.batch_size=2 \
training.online_rollout_n_episodes=2 \
training.online_rollout_batch_size=2 \
training.online_steps_between_rollouts=10 \
training.online_buffer_capacity=15 \
eval.use_async_envs=true \
hydra.run.dir=tests/outputs/tdmpc_online/
--policy.type=tdmpc \
--env.type=xarm \
--env.task=XarmLift-v0 \
--env.episode_length=5 \
--dataset.repo_id=lerobot/xarm_lift_medium \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--offline.steps=2 \
--online.steps=0 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--save_checkpoint=true \
--save_freq=2 \
--log_freq=1 \
--wandb.enable=false \
--device=$(DEVICE) \
--output_dir=tests/outputs/tdmpc/
test-tdmpc-ete-eval:
python lerobot/scripts/eval.py \
-p tests/outputs/tdmpc/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
--policy.path=tests/outputs/tdmpc/checkpoints/000002/pretrained_model \
--env.type=xarm \
--env.episode_length=5 \
--env.task=XarmLift-v0 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE)
test-default-ete-eval:
python lerobot/scripts/eval.py \
--config lerobot/configs/default.yaml \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
test-act-pusht-tutorial:
cp examples/advanced/1_train_act_pusht/act_pusht.yaml lerobot/configs/policy/created_by_Makefile.yaml
test-tdmpc-ete-train-with-online:
python lerobot/scripts/train.py \
policy=created_by_Makefile.yaml \
env=pusht \
wandb.enable=False \
training.offline_steps=2 \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=2 \
device=$(DEVICE) \
training.save_model=true \
training.save_freq=2 \
training.batch_size=2 \
training.image_transforms.enable=true \
hydra.run.dir=tests/outputs/act_pusht/
rm lerobot/configs/policy/created_by_Makefile.yaml
--policy.type=tdmpc \
--env.type=pusht \
--env.obs_type=environment_state_agent_pos \
--env.episode_length=5 \
--dataset.repo_id=lerobot/pusht_keypoints \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--offline.steps=2 \
--online.steps=20 \
--online.rollout_n_episodes=2 \
--online.rollout_batch_size=2 \
--online.steps_between_rollouts=10 \
--online.buffer_capacity=1000 \
--online.env_seed=10000 \
--save_checkpoint=false \
--save_freq=10 \
--log_freq=1 \
--eval.use_async_envs=true \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE) \
--output_dir=tests/outputs/tdmpc_online/