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Feat: Improve hub integration (#1382)

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* feat(policies): Initial setup to push policies to hub with tags and model card

* feat: add dataset that is used to train

* Add model template summary

* fix: Update link model_card template

* fix: remove print

* fix: change import name

* fix: add model summary in template

* fix: minor text

* fix: comments Lucain

* fix: feedback steven

* fix: restructure push to hub

* fix: remove unneeded changes

* fix: import

* fix: import 2

* Add MANIFEST.in

* fix: feedback pr

* Fix tests

* tests: Add smolvla end-to-end test

* Fix: smolvla test

* fix test name

* fix policy tests

* Add push to hub false policy tests

* Do push to hub cleaner

* fix(ci): add push_to_hub false in tests

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>
This commit is contained in:
Pepijn
2025-06-26 14:36:16 +02:00
committed by GitHub
parent a989c79558
commit 0b2285d1ec
13 changed files with 206 additions and 101 deletions
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38
Makefile
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@@ -40,6 +40,8 @@ test-end-to-end:
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
${MAKE} DEVICE=$(DEVICE) test-smolvla-ete-train
${MAKE} DEVICE=$(DEVICE) test-smolvla-ete-eval
test-act-ete-train:
python lerobot/scripts/train.py \
@@ -48,6 +50,7 @@ test-act-ete-train:
--policy.n_action_steps=20 \
--policy.chunk_size=20 \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--env.type=aloha \
--env.episode_length=5 \
--dataset.repo_id=lerobot/aloha_sim_transfer_cube_human \
@@ -85,6 +88,7 @@ test-diffusion-ete-train:
--policy.diffusion_step_embed_dim=32 \
--policy.num_inference_steps=10 \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--env.type=pusht \
--env.episode_length=5 \
--dataset.repo_id=lerobot/pusht \
@@ -114,6 +118,7 @@ test-tdmpc-ete-train:
python lerobot/scripts/train.py \
--policy.type=tdmpc \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--env.type=xarm \
--env.task=XarmLift-v0 \
--env.episode_length=5 \
@@ -140,3 +145,36 @@ test-tdmpc-ete-eval:
--env.task=XarmLift-v0 \
--eval.n_episodes=1 \
--eval.batch_size=1
test-smolvla-ete-train:
python lerobot/scripts/train.py \
--policy.type=smolvla \
--policy.n_action_steps=20 \
--policy.chunk_size=20 \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--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 \
--steps=4 \
--eval_freq=2 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--save_freq=2 \
--save_checkpoint=true \
--log_freq=1 \
--wandb.enable=false \
--output_dir=tests/outputs/smolvla/
test-smolvla-ete-eval:
python lerobot/scripts/eval.py \
--policy.path=tests/outputs/smolvla/checkpoints/000004/pretrained_model \
--policy.device=$(DEVICE) \
--env.type=aloha \
--env.episode_length=5 \
--eval.n_episodes=1 \
--eval.batch_size=1