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Add Pi0 (#681)

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Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
This commit is contained in:
Remi
2025-02-04 18:01:04 +01:00
committed by GitHub
parent dd974529cf
commit 638d411cd3
26 changed files with 2365 additions and 92 deletions
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52
Makefile
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@@ -26,7 +26,6 @@ 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-tdmpc-ete-train-with-online
test-act-ete-train:
python lerobot/scripts/train.py \
@@ -128,28 +127,29 @@ test-tdmpc-ete-eval:
--eval.batch_size=1 \
--device=$(DEVICE)
test-tdmpc-ete-train-with-online:
python lerobot/scripts/train.py \
--policy.type=tdmpc \
--env.type=pusht \
--env.obs_type=environment_state_agent_pos \
--env.episode_length=5 \
--dataset.repo_id=lerobot/pusht_keypoints \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--offline.steps=2 \
--online.steps=20 \
--online.rollout_n_episodes=2 \
--online.rollout_batch_size=2 \
--online.steps_between_rollouts=10 \
--online.buffer_capacity=1000 \
--online.env_seed=10000 \
--save_checkpoint=false \
--save_freq=10 \
--log_freq=1 \
--eval.use_async_envs=true \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE) \
--output_dir=tests/outputs/tdmpc_online/
# TODO(rcadene): fix online buffer to storing "task"
# test-tdmpc-ete-train-with-online:
# python lerobot/scripts/train.py \
# --policy.type=tdmpc \
# --env.type=pusht \
# --env.obs_type=environment_state_agent_pos \
# --env.episode_length=5 \
# --dataset.repo_id=lerobot/pusht_keypoints \
# --dataset.image_transforms.enable=true \
# --dataset.episodes="[0]" \
# --batch_size=2 \
# --offline.steps=2 \
# --online.steps=20 \
# --online.rollout_n_episodes=2 \
# --online.rollout_batch_size=2 \
# --online.steps_between_rollouts=10 \
# --online.buffer_capacity=1000 \
# --online.env_seed=10000 \
# --save_checkpoint=false \
# --save_freq=10 \
# --log_freq=1 \
# --eval.use_async_envs=true \
# --eval.n_episodes=1 \
# --eval.batch_size=1 \
# --device=$(DEVICE) \
# --output_dir=tests/outputs/tdmpc_online/