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Fix nightly (#775)

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This commit is contained in:
Simon Alibert
2025-02-26 16:36:03 +01:00
committed by GitHub
parent da265ca920
commit 659ec4434d
51 changed files with 145 additions and 172 deletions
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60
tests/scripts/save_policy_to_safetensors.py
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@@ -27,16 +27,13 @@ from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
def get_policy_stats(ds_repo_id, env_name, policy_name, policy_kwargs, train_kwargs):
# TODO(rcadene, aliberts): env_name?
def get_policy_stats(ds_repo_id: str, policy_name: str, policy_kwargs: dict):
set_seed(1337)
train_cfg = TrainPipelineConfig(
# TODO(rcadene, aliberts): remove dataset download
dataset=DatasetConfig(repo_id=ds_repo_id, episodes=[0]),
policy=make_policy_config(policy_name, **policy_kwargs),
device="cpu",
**train_kwargs,
)
train_cfg.validate() # Needed for auto-setting some parameters
@@ -54,8 +51,11 @@ def get_policy_stats(ds_repo_id, env_name, policy_name, policy_kwargs, train_kwa
batch = next(iter(dataloader))
loss, output_dict = policy.forward(batch)
output_dict = {k: v for k, v in output_dict.items() if isinstance(v, torch.Tensor)}
output_dict["loss"] = loss
if output_dict is not None:
output_dict = {k: v for k, v in output_dict.items() if isinstance(v, torch.Tensor)}
output_dict["loss"] = loss
else:
output_dict = {"loss": loss}
loss.backward()
grad_stats = {}
@@ -101,30 +101,27 @@ def get_policy_stats(ds_repo_id, env_name, policy_name, policy_kwargs, train_kwa
return output_dict, grad_stats, param_stats, actions
def save_policy_to_safetensors(output_dir, env_name, policy_name, policy_kwargs, file_name_extra):
env_policy_dir = Path(output_dir) / f"{env_name}_{policy_name}{file_name_extra}"
def save_policy_to_safetensors(output_dir: Path, ds_repo_id: str, policy_name: str, policy_kwargs: dict):
if output_dir.exists():
print(f"Overwrite existing safetensors in '{output_dir}':")
print(f" - Validate with: `git add {output_dir}`")
print(f" - Revert with: `git checkout -- {output_dir}`")
shutil.rmtree(output_dir)
if env_policy_dir.exists():
print(f"Overwrite existing safetensors in '{env_policy_dir}':")
print(f" - Validate with: `git add {env_policy_dir}`")
print(f" - Revert with: `git checkout -- {env_policy_dir}`")
shutil.rmtree(env_policy_dir)
env_policy_dir.mkdir(parents=True, exist_ok=True)
output_dict, grad_stats, param_stats, actions = get_policy_stats(env_name, policy_name, policy_kwargs)
save_file(output_dict, env_policy_dir / "output_dict.safetensors")
save_file(grad_stats, env_policy_dir / "grad_stats.safetensors")
save_file(param_stats, env_policy_dir / "param_stats.safetensors")
save_file(actions, env_policy_dir / "actions.safetensors")
output_dir.mkdir(parents=True, exist_ok=True)
output_dict, grad_stats, param_stats, actions = get_policy_stats(ds_repo_id, policy_name, policy_kwargs)
save_file(output_dict, output_dir / "output_dict.safetensors")
save_file(grad_stats, output_dir / "grad_stats.safetensors")
save_file(param_stats, output_dir / "param_stats.safetensors")
save_file(actions, output_dir / "actions.safetensors")
if __name__ == "__main__":
env_policies = [
("lerobot/xarm_lift_medium", "xarm", "tdmpc", {"use_mpc": False}, "use_policy"),
("lerobot/xarm_lift_medium", "xarm", "tdmpc", {"use_mpc": True}, "use_mpc"),
artifacts_cfg = [
("lerobot/xarm_lift_medium", "tdmpc", {"use_mpc": False}, "use_policy"),
("lerobot/xarm_lift_medium", "tdmpc", {"use_mpc": True}, "use_mpc"),
(
"lerobot/pusht",
"pusht",
"diffusion",
{
"n_action_steps": 8,
@@ -133,18 +130,17 @@ if __name__ == "__main__":
},
"",
),
("lerobot/aloha_sim_insertion_human", "aloha", "act", {"n_action_steps": 10}, ""),
("lerobot/aloha_sim_insertion_human", "act", {"n_action_steps": 10}, ""),
(
"lerobot/aloha_sim_insertion_human",
"aloha",
"act",
{"n_action_steps": 1000, "chunk_size": 1000},
"_1000_steps",
"1000_steps",
),
]
if len(env_policies) == 0:
if len(artifacts_cfg) == 0:
raise RuntimeError("No policies were provided!")
for ds_repo_id, env, policy, policy_kwargs, file_name_extra in env_policies:
save_policy_to_safetensors(
"tests/data/save_policy_to_safetensors", ds_repo_id, env, policy, policy_kwargs, file_name_extra
)
for ds_repo_id, policy, policy_kwargs, file_name_extra in artifacts_cfg:
ds_name = ds_repo_id.split("/")[-1]
output_dir = Path("tests/data/save_policy_to_safetensors") / f"{ds_name}_{policy}_{file_name_extra}"
save_policy_to_safetensors(output_dir, ds_repo_id, policy, policy_kwargs)