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CI nightlies cpu/gpu & cleanup (#75)

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Simon Alibert
2024-04-25 14:58:39 +02:00
committed by GitHub
parent 659c69a1c0
commit b980c5dd9e
14 changed files with 771 additions and 187 deletions
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.PHONY: tests
build-cpu:
docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
build-gpu:
docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
test-end-to-end:
${MAKE} test-act-ete-train
${MAKE} test-act-ete-eval
${MAKE} test-diffusion-ete-train
${MAKE} test-diffusion-ete-eval
${MAKE} test-tdmpc-ete-train
${MAKE} test-tdmpc-ete-eval
test-act-ete-train:
python lerobot/scripts/train.py \
policy=act \
env=aloha \
wandb.enable=False \
offline_steps=2 \
online_steps=0 \
eval_episodes=1 \
device=cpu \
save_model=true \
save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/act/
test-act-ete-eval:
python lerobot/scripts/eval.py \
--config tests/outputs/act/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/act/models/2.pt
test-diffusion-ete-train:
python lerobot/scripts/train.py \
policy=diffusion \
env=pusht \
wandb.enable=False \
offline_steps=2 \
online_steps=0 \
eval_episodes=1 \
device=cpu \
save_model=true \
save_freq=2 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/diffusion/
test-diffusion-ete-eval:
python lerobot/scripts/eval.py \
--config tests/outputs/diffusion/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
test-tdmpc-ete-train:
python lerobot/scripts/train.py \
policy=tdmpc \
env=xarm \
wandb.enable=False \
offline_steps=1 \
online_steps=2 \
eval_episodes=1 \
env.episode_length=2 \
device=cpu \
save_model=true \
save_freq=2 \
policy.batch_size=2 \
hydra.run.dir=tests/outputs/tdmpc/
test-tdmpc-ete-eval:
python lerobot/scripts/eval.py \
--config tests/outputs/tdmpc/.hydra/config.yaml \
eval_episodes=1 \
env.episode_length=8 \
device=cpu \
policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt