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Add test to make sure policy dataclass configs match yaml configs (#292)

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Alexander Soare
2024-06-26 09:09:40 +01:00
committed by GitHub
parent 7d1542cae1
commit 342f429f1c
5 changed files with 54 additions and 13 deletions
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13
tests/scripts/save_policy_to_safetensors.py
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@@ -108,16 +108,23 @@ def save_policy_to_safetensors(output_dir, env_name, policy_name, extra_override
if __name__ == "__main__":
env_policies = [
# ("xarm", "tdmpc", []),
# ("xarm", "tdmpc", ["policy.use_mpc=false"], ""),
# (
# "pusht",
# "diffusion",
# ["policy.n_action_steps=8", "policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"],
# [
# "policy.n_action_steps=8",
# "policy.num_inference_steps=10",
# "policy.down_dims=[128, 256, 512]",
# ],
# "",
# ),
("aloha", "act", ["policy.n_action_steps=1000", "policy.chunk_size=1000"], "_1000_steps"),
# ("aloha", "act", ["policy.n_action_steps=1000", "policy.chunk_size=1000"], "_1000_steps"),
# ("dora_aloha_real", "act_real", ["policy.n_action_steps=10"]),
# ("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"]),
]
if len(env_policies) == 0:
raise RuntimeError("No policies were provided!")
for env, policy, extra_overrides, file_name_extra in env_policies:
save_policy_to_safetensors(
"tests/data/save_policy_to_safetensors", env, policy, extra_overrides, file_name_extra