Add pretrained notebook

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

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
+}