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Per-episode stats (#521)

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Co-authored-by: Remi Cadene <re.cadene@gmail.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
This commit is contained in:
Simon Alibert
2025-02-15 15:47:16 +01:00
committed by GitHub
parent 7c2bbee613
commit 8426c64f42
19 changed files with 906 additions and 798 deletions
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58
tests/test_control_robot.py
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@@ -24,7 +24,6 @@ pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-True]'
"""
import multiprocessing
from pathlib import Path
from unittest.mock import patch
import pytest
@@ -45,7 +44,7 @@ from tests.utils import DEVICE, TEST_ROBOT_TYPES, mock_calibration_dir, require_
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_teleoperate(tmpdir, request, robot_type, mock):
def test_teleoperate(tmp_path, request, robot_type, mock):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock and robot_type != "aloha":
@@ -53,8 +52,7 @@ def test_teleoperate(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
calibration_dir = tmp_path / robot_type
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
else:
@@ -70,15 +68,14 @@ def test_teleoperate(tmpdir, request, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_calibrate(tmpdir, request, robot_type, mock):
def test_calibrate(tmp_path, request, robot_type, mock):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock:
request.getfixturevalue("patch_builtins_input")
# Create an empty calibration directory to trigger manual calibration
tmpdir = Path(tmpdir)
calibration_dir = tmpdir / robot_type
calibration_dir = tmp_path / robot_type
robot_kwargs["calibration_dir"] = calibration_dir
robot = make_robot(**robot_kwargs)
@@ -89,7 +86,7 @@ def test_calibrate(tmpdir, request, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_without_cameras(tmpdir, request, robot_type, mock):
def test_record_without_cameras(tmp_path, request, robot_type, mock):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
# Avoid using cameras
@@ -100,7 +97,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = Path(tmpdir) / robot_type
calibration_dir = tmp_path / robot_type
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
else:
@@ -108,7 +105,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
pass
repo_id = "lerobot/debug"
root = Path(tmpdir) / "data" / repo_id
root = tmp_path / "data" / repo_id
single_task = "Do something."
robot = make_robot(**robot_kwargs)
@@ -121,7 +118,6 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
episode_time_s=1,
reset_time_s=0.1,
num_episodes=2,
run_compute_stats=False,
push_to_hub=False,
video=False,
play_sounds=False,
@@ -131,8 +127,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@require_robot
def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
tmpdir = Path(tmpdir)
def test_record_and_replay_and_policy(tmp_path, request, robot_type, mock):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock and robot_type != "aloha":
@@ -140,7 +135,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
calibration_dir = tmp_path / robot_type
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
else:
@@ -148,7 +143,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
pass
repo_id = "lerobot_test/debug"
root = tmpdir / "data" / repo_id
root = tmp_path / "data" / repo_id
single_task = "Do something."
robot = make_robot(**robot_kwargs)
@@ -180,7 +175,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
policy_cfg = ACTConfig()
policy = make_policy(policy_cfg, ds_meta=dataset.meta, device=DEVICE)
out_dir = tmpdir / "logger"
out_dir = tmp_path / "logger"
pretrained_policy_path = out_dir / "checkpoints/last/pretrained_model"
policy.save_pretrained(pretrained_policy_path)
@@ -207,7 +202,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
num_image_writer_processes = 0
eval_repo_id = "lerobot/eval_debug"
eval_root = tmpdir / "data" / eval_repo_id
eval_root = tmp_path / "data" / eval_repo_id
rec_eval_cfg = RecordControlConfig(
repo_id=eval_repo_id,
@@ -218,7 +213,6 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
episode_time_s=1,
reset_time_s=0.1,
num_episodes=2,
run_compute_stats=False,
push_to_hub=False,
video=False,
display_cameras=False,
@@ -240,7 +234,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", [("koch", True)])
@require_robot
def test_resume_record(tmpdir, request, robot_type, mock):
def test_resume_record(tmp_path, request, robot_type, mock):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock and robot_type != "aloha":
@@ -248,7 +242,7 @@ def test_resume_record(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
calibration_dir = tmp_path / robot_type
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
else:
@@ -258,7 +252,7 @@ def test_resume_record(tmpdir, request, robot_type, mock):
robot = make_robot(**robot_kwargs)
repo_id = "lerobot/debug"
root = Path(tmpdir) / "data" / repo_id
root = tmp_path / "data" / repo_id
single_task = "Do something."
rec_cfg = RecordControlConfig(
@@ -272,7 +266,6 @@ def test_resume_record(tmpdir, request, robot_type, mock):
video=False,
display_cameras=False,
play_sounds=False,
run_compute_stats=False,
local_files_only=True,
num_episodes=1,
)
@@ -291,7 +284,7 @@ def test_resume_record(tmpdir, request, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", [("koch", True)])
@require_robot
def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock):
def test_record_with_event_rerecord_episode(tmp_path, request, robot_type, mock):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock and robot_type != "aloha":
@@ -299,7 +292,7 @@ def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
calibration_dir = tmp_path / robot_type
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
else:
@@ -316,7 +309,7 @@ def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock):
mock_listener.return_value = (None, mock_events)
repo_id = "lerobot/debug"
root = Path(tmpdir) / "data" / repo_id
root = tmp_path / "data" / repo_id
single_task = "Do something."
rec_cfg = RecordControlConfig(
@@ -331,7 +324,6 @@ def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock):
video=False,
display_cameras=False,
play_sounds=False,
run_compute_stats=False,
)
dataset = record(robot, rec_cfg)
@@ -342,7 +334,7 @@ def test_record_with_event_rerecord_episode(tmpdir, request, robot_type, mock):
@pytest.mark.parametrize("robot_type, mock", [("koch", True)])
@require_robot
def test_record_with_event_exit_early(tmpdir, request, robot_type, mock):
def test_record_with_event_exit_early(tmp_path, request, robot_type, mock):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock:
@@ -350,7 +342,7 @@ def test_record_with_event_exit_early(tmpdir, request, robot_type, mock):
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
calibration_dir = tmp_path / robot_type
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
else:
@@ -367,7 +359,7 @@ def test_record_with_event_exit_early(tmpdir, request, robot_type, mock):
mock_listener.return_value = (None, mock_events)
repo_id = "lerobot/debug"
root = Path(tmpdir) / "data" / repo_id
root = tmp_path / "data" / repo_id
single_task = "Do something."
rec_cfg = RecordControlConfig(
@@ -382,7 +374,6 @@ def test_record_with_event_exit_early(tmpdir, request, robot_type, mock):
video=False,
display_cameras=False,
play_sounds=False,
run_compute_stats=False,
)
dataset = record(robot, rec_cfg)
@@ -395,7 +386,7 @@ def test_record_with_event_exit_early(tmpdir, request, robot_type, mock):
"robot_type, mock, num_image_writer_processes", [("koch", True, 0), ("koch", True, 1)]
)
@require_robot
def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num_image_writer_processes):
def test_record_with_event_stop_recording(tmp_path, request, robot_type, mock, num_image_writer_processes):
robot_kwargs = {"robot_type": robot_type, "mock": mock}
if mock:
@@ -403,7 +394,7 @@ def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num
# Create an empty calibration directory to trigger manual calibration
# and avoid writing calibration files in user .cache/calibration folder
calibration_dir = tmpdir / robot_type
calibration_dir = tmp_path / robot_type
mock_calibration_dir(calibration_dir)
robot_kwargs["calibration_dir"] = calibration_dir
else:
@@ -420,7 +411,7 @@ def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num
mock_listener.return_value = (None, mock_events)
repo_id = "lerobot/debug"
root = Path(tmpdir) / "data" / repo_id
root = tmp_path / "data" / repo_id
single_task = "Do something."
rec_cfg = RecordControlConfig(
@@ -436,7 +427,6 @@ def test_record_with_event_stop_recording(tmpdir, request, robot_type, mock, num
video=False,
display_cameras=False,
play_sounds=False,
run_compute_stats=False,
num_image_writer_processes=num_image_writer_processes,
)