diff --git a/.gitignore b/.gitignore index ad9892d4f..b3a4133b3 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,7 @@ +# Apple +.DS_Store +._.DS_Store + # Logging logs tmp diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2b79434a4..cef50dfac 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -23,6 +23,13 @@ repos: - id: ruff args: [--fix] - id: ruff-format + - repo: https://github.com/nbQA-dev/nbQA + rev: 1.8.4 + hooks: + - id: nbqa-ruff + - id: nbqa-pyupgrade + args: ["--py310-plus"] + - id: nbqa-isort - repo: https://github.com/python-poetry/poetry rev: 1.8.0 hooks: diff --git a/examples/notebook_utils.py b/examples/notebook_utils.py new file mode 100644 index 000000000..eb29fd32c --- /dev/null +++ b/examples/notebook_utils.py @@ -0,0 +1,31 @@ +from pprint import pprint + +from hydra import compose, initialize +from hydra.core.global_hydra import GlobalHydra +from omegaconf import OmegaConf +from omegaconf.dictconfig import DictConfig + +CONFIG_DIR = "../lerobot/configs" +DEFAULT_CONFIG = "default" + + +def config_notebook( + policy: str = "diffusion", + env: str = "pusht", + device: str = "cpu", + config_name=DEFAULT_CONFIG, + config_path=CONFIG_DIR, + print_config: bool = False, +) -> DictConfig: + GlobalHydra.instance().clear() + initialize(config_path=config_path) + overrides = [ + f"env={env}", + f"policy={policy}", + f"device={device}", + ] + cfg = compose(config_name=config_name, overrides=overrides) + if print_config: + pprint(OmegaConf.to_container(cfg)) + + return cfg diff --git a/examples/pretrained.ipynb b/examples/pretrained.ipynb new file mode 100644 index 000000000..990f1d0ae --- /dev/null +++ b/examples/pretrained.ipynb @@ -0,0 +1,56 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "from pathlib import Path\n", + "\n", + "from IPython.display import Video\n", + "\n", + "from examples.notebook_utils import config_notebook\n", + "from lerobot.scripts.eval import eval\n", + "\n", + "OUT_DIR = Path(\"./outputs\")\n", + "POLICY = \"act\"\n", + "ENV = \"aloha\"\n", + "\n", + "# setup config\n", + "cfg = config_notebook(policy=POLICY, env=ENV, device=\"cpu\", print_config=True)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "eval(cfg, out_dir=OUT_DIR)\n", + "Video(OUT_DIR / \"eval\" / \"eval_episode_0.mp4\", embed=True)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "lerobot", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.13" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py index 76deb2fea..1ec344802 100644 --- a/lerobot/scripts/eval.py +++ b/lerobot/scripts/eval.py @@ -145,6 +145,7 @@ def eval(cfg: dict, out_dir=None): logging.info("make_env") env = make_env(cfg, transform=offline_buffer.transform) + # TODO(aliberts, Cadene): fetch pretrained model from HF hub if cfg.policy.pretrained_model_path: policy = make_policy(cfg) policy = TensorDictModule( diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index 82b3cc5df..185fe78ac 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -25,15 +25,6 @@ def train_cli(cfg: dict): ) -def train_notebook(out_dir=None, job_name=None, config_name="default", config_path="../configs"): - from hydra import compose, initialize - - hydra.core.global_hydra.GlobalHydra.instance().clear() - initialize(config_path=config_path) - cfg = compose(config_name=config_name) - train(cfg, out_dir=out_dir, job_name=job_name) - - def log_train_info(logger, info, step, cfg, offline_buffer, is_offline): loss = info["loss"] grad_norm = 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