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Tidy up yaml configs (#121)

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This commit is contained in:
Alexander Soare
2024-04-30 16:08:59 +01:00
committed by GitHub
parent e4e739f4f8
commit 9d60dce6f3
21 changed files with 142 additions and 207 deletions
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2
tests/test_datasets.py
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@@ -33,7 +33,7 @@ def test_factory(env_name, repo_id, policy_name):
DEFAULT_CONFIG_PATH,
overrides=[
f"env={env_name}",
f"dataset.repo_id={repo_id}",
f"dataset_repo_id={repo_id}",
f"policy={policy_name}",
f"device={DEVICE}",
],

6
tests/test_examples.py
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@@ -39,7 +39,7 @@ def test_examples_3_and_2():
("training_steps = 5000", "training_steps = 1"),
("num_workers=4", "num_workers=0"),
('device = torch.device("cuda")', 'device = torch.device("cpu")'),
("batch_size=cfg.batch_size", "batch_size=1"),
("batch_size=64", "batch_size=1"),
],
)
@@ -58,8 +58,8 @@ def test_examples_3_and_2():
file_contents = _find_and_replace(
file_contents,
[
('"eval_episodes=10"', '"eval_episodes=1"'),
('"rollout_batch_size=10"', '"rollout_batch_size=1"'),
('"eval.n_episodes=10"', '"eval.n_episodes=1"'),
('"eval.batch_size=10"', '"eval.batch_size=1"'),
('"device=cuda"', '"device=cpu"'),
(
'# folder = Path("outputs/train/example_pusht_diffusion")',

8
tests/test_policies.py
View File

@@ -21,21 +21,21 @@ from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_env
# ("xarm", "tdmpc", ["policy.mpc=true"]),
# ("pusht", "tdmpc", ["policy.mpc=false"]),
("pusht", "diffusion", []),
("aloha", "act", ["env.task=AlohaInsertion-v0", "dataset.repo_id=lerobot/aloha_sim_insertion_human"]),
("aloha", "act", ["env.task=AlohaInsertion-v0", "dataset_repo_id=lerobot/aloha_sim_insertion_human"]),
(
"aloha",
"act",
["env.task=AlohaInsertion-v0", "dataset.repo_id=lerobot/aloha_sim_insertion_scripted"],
["env.task=AlohaInsertion-v0", "dataset_repo_id=lerobot/aloha_sim_insertion_scripted"],
),
(
"aloha",
"act",
["env.task=AlohaTransferCube-v0", "dataset.repo_id=lerobot/aloha_sim_transfer_cube_human"],
["env.task=AlohaTransferCube-v0", "dataset_repo_id=lerobot/aloha_sim_transfer_cube_human"],
),
(
"aloha",
"act",
["env.task=AlohaTransferCube-v0", "dataset.repo_id=lerobot/aloha_sim_transfer_cube_scripted"],
["env.task=AlohaTransferCube-v0", "dataset_repo_id=lerobot/aloha_sim_transfer_cube_scripted"],
),
],
)

2
tests/test_visualize_dataset.py
View File

@@ -20,7 +20,7 @@ def test_visualize_dataset(tmpdir, repo_id):
overrides=[
"policy=act",
"env=aloha",
f"dataset.repo_id={repo_id}",
f"dataset_repo_id={repo_id}",
],
)
video_paths = visualize_dataset(cfg, out_dir=tmpdir)