CI nightlies cpu/gpu & cleanup (#75)
This commit is contained in:
Simon Alibert
207
.github/workflows/build-docker-images.yml
vendored
Normal file
207
.github/workflows/build-docker-images.yml
vendored
Normal file
@@ -0,0 +1,207 @@
|
||||
# Inspired by
|
||||
# https://github.com/huggingface/peft/blob/main/.github/workflows/build_docker_images.yml
|
||||
name: Nightly Builds
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
schedule:
|
||||
- cron: "0 1 * * *"
|
||||
|
||||
# concurrency:
|
||||
# group: docker-image-builds
|
||||
# cancel-in-progress: false
|
||||
|
||||
env:
|
||||
PYTHON_VERSION: "3.10"
|
||||
# CI_SLACK_CHANNEL: ${{ secrets.CI_DOCKER_CHANNEL }}
|
||||
|
||||
jobs:
|
||||
latest-cpu:
|
||||
name: "Build CPU"
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Cleanup disk
|
||||
run: |
|
||||
sudo df -h
|
||||
# sudo ls -l /usr/local/lib/
|
||||
# sudo ls -l /usr/share/
|
||||
sudo du -sh /usr/local/lib/
|
||||
sudo du -sh /usr/share/
|
||||
sudo rm -rf /usr/local/lib/android
|
||||
sudo rm -rf /usr/share/dotnet
|
||||
sudo du -sh /usr/local/lib/
|
||||
sudo du -sh /usr/share/
|
||||
sudo df -h
|
||||
|
||||
- name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
|
||||
- name: Check out code
|
||||
uses: actions/checkout@v4
|
||||
|
||||
- name: Checkout gym-aloha
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: huggingface/gym-aloha
|
||||
path: envs/gym-aloha
|
||||
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Checkout gym-xarm
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: huggingface/gym-xarm
|
||||
path: envs/gym-xarm
|
||||
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Checkout gym-pusht
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: huggingface/gym-pusht
|
||||
path: envs/gym-pusht
|
||||
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
# HACK(aliberts): to be removed for release
|
||||
# -----------------------------------------
|
||||
- name: Set up Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
- name: Change envs dependencies as local path
|
||||
run: python .github/scripts/dep_build.py
|
||||
# -----------------------------------------
|
||||
|
||||
- name: Login to DockerHub
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_PASSWORD }}
|
||||
|
||||
- name: Build and Push CPU
|
||||
uses: docker/build-push-action@v5
|
||||
with:
|
||||
context: .
|
||||
file: ./docker/lerobot-cpu/Dockerfile
|
||||
push: true
|
||||
tags: huggingface/lerobot-cpu
|
||||
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
|
||||
|
||||
# - name: Post to a Slack channel
|
||||
# id: slack
|
||||
# #uses: slackapi/slack-github-action@v1.25.0
|
||||
# uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
|
||||
# with:
|
||||
# # Slack channel id, channel name, or user id to post message.
|
||||
# # See also: https://api.slack.com/methods/chat.postMessage#channels
|
||||
# channel-id: ${{ env.CI_SLACK_CHANNEL }}
|
||||
# # For posting a rich message using Block Kit
|
||||
# payload: |
|
||||
# {
|
||||
# "text": "lerobot-cpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
|
||||
# "blocks": [
|
||||
# {
|
||||
# "type": "section",
|
||||
# "text": {
|
||||
# "type": "mrkdwn",
|
||||
# "text": "lerobot-cpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
|
||||
# }
|
||||
# }
|
||||
# ]
|
||||
# }
|
||||
# env:
|
||||
# SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
|
||||
|
||||
latest-cuda:
|
||||
name: "Build GPU"
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Cleanup disk
|
||||
run: |
|
||||
sudo df -h
|
||||
# sudo ls -l /usr/local/lib/
|
||||
# sudo ls -l /usr/share/
|
||||
sudo du -sh /usr/local/lib/
|
||||
sudo du -sh /usr/share/
|
||||
sudo rm -rf /usr/local/lib/android
|
||||
sudo rm -rf /usr/share/dotnet
|
||||
sudo du -sh /usr/local/lib/
|
||||
sudo du -sh /usr/share/
|
||||
sudo df -h
|
||||
- name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
|
||||
- name: Check out code
|
||||
uses: actions/checkout@v4
|
||||
|
||||
- name: Checkout gym-aloha
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: huggingface/gym-aloha
|
||||
path: envs/gym-aloha
|
||||
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Checkout gym-xarm
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: huggingface/gym-xarm
|
||||
path: envs/gym-xarm
|
||||
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Checkout gym-pusht
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: huggingface/gym-pusht
|
||||
path: envs/gym-pusht
|
||||
ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
# HACK(aliberts): to be removed for release
|
||||
# -----------------------------------------
|
||||
- name: Set up Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
- name: Change envs dependencies as local path
|
||||
run: python .github/scripts/dep_build.py
|
||||
# -----------------------------------------
|
||||
|
||||
- name: Login to DockerHub
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_PASSWORD }}
|
||||
|
||||
- name: Build and Push GPU
|
||||
uses: docker/build-push-action@v5
|
||||
with:
|
||||
context: .
|
||||
file: ./docker/lerobot-gpu/Dockerfile
|
||||
push: true
|
||||
tags: huggingface/lerobot-gpu
|
||||
build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
|
||||
|
||||
# - name: Post to a Slack channel
|
||||
# id: slack
|
||||
# #uses: slackapi/slack-github-action@v1.25.0
|
||||
# uses: slackapi/slack-github-action@6c661ce58804a1a20f6dc5fbee7f0381b469e001
|
||||
# with:
|
||||
# # Slack channel id, channel name, or user id to post message.
|
||||
# # See also: https://api.slack.com/methods/chat.postMessage#channels
|
||||
# channel-id: ${{ env.CI_SLACK_CHANNEL }}
|
||||
# # For posting a rich message using Block Kit
|
||||
# payload: |
|
||||
# {
|
||||
# "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}",
|
||||
# "blocks": [
|
||||
# {
|
||||
# "type": "section",
|
||||
# "text": {
|
||||
# "type": "mrkdwn",
|
||||
# "text": "lerobot-gpu Docker Image build result: ${{ job.status }}\n${{ github.event.pull_request.html_url || github.event.head_commit.url }}"
|
||||
# }
|
||||
# }
|
||||
# ]
|
||||
# }
|
||||
# env:
|
||||
# SLACK_BOT_TOKEN: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
|
||||
85
.github/workflows/nightly-tests.yml
vendored
Normal file
85
.github/workflows/nightly-tests.yml
vendored
Normal file
@@ -0,0 +1,85 @@
|
||||
# Inspired by
|
||||
# https://github.com/huggingface/peft/blob/main/.github/workflows/nightly.yml
|
||||
name: Nightly Tests
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
schedule:
|
||||
- cron: "0 2 * * *"
|
||||
|
||||
env:
|
||||
DATA_DIR: tests/data
|
||||
# SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
|
||||
|
||||
|
||||
jobs:
|
||||
run_all_tests_cpu:
|
||||
name: "Test CPU"
|
||||
strategy:
|
||||
fail-fast: false
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: huggingface/lerobot-cpu:latest
|
||||
options: --shm-size "16gb"
|
||||
credentials:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_PASSWORD }}
|
||||
defaults:
|
||||
run:
|
||||
shell: bash
|
||||
working-directory: /lerobot
|
||||
steps:
|
||||
- name: Tests
|
||||
env:
|
||||
DATA_DIR: tests/data
|
||||
run: pytest -v --cov=./lerobot --disable-warnings tests
|
||||
- name: Tests end-to-end
|
||||
env:
|
||||
DATA_DIR: tests/data
|
||||
run: make test-end-to-end
|
||||
|
||||
run_all_tests_single_gpu:
|
||||
name: "Test GPU"
|
||||
strategy:
|
||||
fail-fast: false
|
||||
runs-on: [single-gpu, nvidia-gpu, t4, ci]
|
||||
env:
|
||||
CUDA_VISIBLE_DEVICES: "0"
|
||||
TEST_TYPE: "single_gpu"
|
||||
container:
|
||||
image: huggingface/lerobot-gpu:latest
|
||||
options: --gpus all --shm-size "16gb"
|
||||
credentials:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_PASSWORD }}
|
||||
defaults:
|
||||
run:
|
||||
shell: bash
|
||||
working-directory: /lerobot
|
||||
steps:
|
||||
- name: Nvidia-smi
|
||||
run: nvidia-smi
|
||||
- name: Test
|
||||
run: pytest -v --cov=./lerobot --cov-report=xml --disable-warnings tests
|
||||
# TODO(aliberts): Link with HF Codecov account
|
||||
# - name: Upload coverage reports to Codecov with GitHub Action
|
||||
# uses: codecov/codecov-action@v4
|
||||
# with:
|
||||
# files: ./coverage.xml
|
||||
# verbose: true
|
||||
- name: Tests end-to-end
|
||||
run: make test-end-to-end
|
||||
- name: Tailscale Wait
|
||||
if: ${{ failure() || runner.debug == '1' }}
|
||||
uses: huggingface/tailscale-action@v1
|
||||
with:
|
||||
waitForSSH: true
|
||||
authkey: ${{ secrets.TAILSCALE_SSH_AUTHKEY }}
|
||||
slackChannel: ${{ secrets.SLACK_CIFEEDBACK_CHANNEL }}
|
||||
slackToken: ${{ secrets.SLACK_CIFEEDBACK_BOT_TOKEN }}
|
||||
|
||||
# - name: Generate Report
|
||||
# if: always()
|
||||
# run: |
|
||||
# pip install slack_sdk tabulate
|
||||
# python scripts/log_reports.py >> $GITHUB_STEP_SUMMARY
|
||||
120
.github/workflows/test-poetry_DEPRECATED.yml
vendored
Normal file
120
.github/workflows/test-poetry_DEPRECATED.yml
vendored
Normal file
@@ -0,0 +1,120 @@
|
||||
# name: Tests poetry
|
||||
|
||||
# on:
|
||||
# pull_request:
|
||||
# branches:
|
||||
# - main
|
||||
# push:
|
||||
# branches:
|
||||
# - main
|
||||
|
||||
# jobs:
|
||||
# tests:
|
||||
# runs-on: ubuntu-latest
|
||||
# env:
|
||||
# POETRY_VERSION: 1.8.2
|
||||
# DATA_DIR: tests/data
|
||||
# MUJOCO_GL: egl
|
||||
# steps:
|
||||
# #----------------------------------------------
|
||||
# # check-out repo and set-up python
|
||||
# #----------------------------------------------
|
||||
# - name: Check out repository
|
||||
# uses: actions/checkout@v4
|
||||
# with:
|
||||
# lfs: true
|
||||
|
||||
# - name: Set up python
|
||||
# id: setup-python
|
||||
# uses: actions/setup-python@v5
|
||||
# with:
|
||||
# python-version: '3.10'
|
||||
|
||||
# - name: Add SSH key for installing envs
|
||||
# uses: webfactory/ssh-agent@v0.9.0
|
||||
# with:
|
||||
# ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
# #----------------------------------------------
|
||||
# # install & configure poetry
|
||||
# #----------------------------------------------
|
||||
# - name: Load cached Poetry installation
|
||||
# id: restore-poetry-cache
|
||||
# uses: actions/cache/restore@v3
|
||||
# with:
|
||||
# path: ~/.local
|
||||
# key: poetry-${{ env.POETRY_VERSION }}
|
||||
|
||||
# - name: Install Poetry
|
||||
# if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
|
||||
# uses: snok/install-poetry@v1
|
||||
# with:
|
||||
# version: ${{ env.POETRY_VERSION }}
|
||||
# virtualenvs-create: true
|
||||
# installer-parallel: true
|
||||
|
||||
# - name: Save cached Poetry installation
|
||||
# if: |
|
||||
# steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
|
||||
# github.ref_name == 'main'
|
||||
# id: save-poetry-cache
|
||||
# uses: actions/cache/save@v3
|
||||
# with:
|
||||
# path: ~/.local
|
||||
# key: poetry-${{ env.POETRY_VERSION }}
|
||||
|
||||
# - name: Configure Poetry
|
||||
# run: poetry config virtualenvs.in-project true
|
||||
|
||||
# #----------------------------------------------
|
||||
# # install dependencies
|
||||
# #----------------------------------------------
|
||||
# # TODO(aliberts): move to gpu runners
|
||||
# - name: Select cpu dependencies # HACK
|
||||
# run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
|
||||
|
||||
# - name: Load cached venv
|
||||
# id: restore-dependencies-cache
|
||||
# uses: actions/cache/restore@v3
|
||||
# with:
|
||||
# path: .venv
|
||||
# key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
||||
|
||||
# - name: Install dependencies
|
||||
# if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
|
||||
# run: poetry install --no-interaction --no-root --all-extras
|
||||
|
||||
# - name: Save cached venv
|
||||
# if: |
|
||||
# steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
|
||||
# github.ref_name == 'main'
|
||||
# id: save-dependencies-cache
|
||||
# uses: actions/cache/save@v3
|
||||
# with:
|
||||
# path: .venv
|
||||
# key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
||||
|
||||
# - name: Install EGL
|
||||
# run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
|
||||
|
||||
# #----------------------------------------------
|
||||
# # install project
|
||||
# #----------------------------------------------
|
||||
# - name: Install project
|
||||
# run: poetry install --no-interaction --all-extras
|
||||
|
||||
# #----------------------------------------------
|
||||
# # run tests & coverage
|
||||
# #----------------------------------------------
|
||||
# - name: Run tests
|
||||
# run: |
|
||||
# source .venv/bin/activate
|
||||
# pytest -v --cov=./lerobot tests
|
||||
|
||||
# #----------------------------------------------
|
||||
# # run end-to-end tests
|
||||
# #----------------------------------------------
|
||||
# - name: Tests end-to-end
|
||||
# run: |
|
||||
# source .venv/bin/activate
|
||||
# make test-end-to-end
|
||||
197
.github/workflows/test.yml
vendored
197
.github/workflows/test.yml
vendored
@@ -4,210 +4,43 @@ on:
|
||||
pull_request:
|
||||
branches:
|
||||
- main
|
||||
types: [opened, synchronize, reopened, labeled]
|
||||
push:
|
||||
branches:
|
||||
- main
|
||||
|
||||
jobs:
|
||||
tests:
|
||||
if: |
|
||||
${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} ||
|
||||
${{ github.event_name == 'push' }}
|
||||
runs-on: ubuntu-latest
|
||||
env:
|
||||
POETRY_VERSION: 1.8.2
|
||||
DATA_DIR: tests/data
|
||||
MUJOCO_GL: egl
|
||||
steps:
|
||||
#----------------------------------------------
|
||||
# check-out repo and set-up python
|
||||
#----------------------------------------------
|
||||
- name: Check out repository
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
lfs: true
|
||||
|
||||
- name: Set up python
|
||||
id: setup-python
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: '3.10'
|
||||
|
||||
- name: Add SSH key for installing envs
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
#----------------------------------------------
|
||||
# install & configure poetry
|
||||
#----------------------------------------------
|
||||
- name: Load cached Poetry installation
|
||||
id: restore-poetry-cache
|
||||
uses: actions/cache/restore@v3
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
path: ~/.local
|
||||
key: poetry-${{ env.POETRY_VERSION }}
|
||||
lfs: true
|
||||
|
||||
- name: Install Poetry
|
||||
if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
|
||||
uses: snok/install-poetry@v1
|
||||
- name: Set up Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
version: ${{ env.POETRY_VERSION }}
|
||||
virtualenvs-create: true
|
||||
installer-parallel: true
|
||||
python-version: "3.10"
|
||||
cache: ${{ (github.ref == 'refs/heads/main') && 'pip' || '' }}
|
||||
cache-dependency-path: pyproject.toml
|
||||
|
||||
- name: Save cached Poetry installation
|
||||
if: |
|
||||
steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
|
||||
github.ref_name == 'main'
|
||||
id: save-poetry-cache
|
||||
uses: actions/cache/save@v3
|
||||
with:
|
||||
path: ~/.local
|
||||
key: poetry-${{ env.POETRY_VERSION }}
|
||||
|
||||
- name: Configure Poetry
|
||||
run: poetry config virtualenvs.in-project true
|
||||
|
||||
#----------------------------------------------
|
||||
# install dependencies
|
||||
#----------------------------------------------
|
||||
# TODO(aliberts): move to gpu runners
|
||||
- name: Select cpu dependencies # HACK
|
||||
run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
|
||||
|
||||
- name: Load cached venv
|
||||
id: restore-dependencies-cache
|
||||
uses: actions/cache/restore@v3
|
||||
with:
|
||||
path: .venv
|
||||
key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
||||
|
||||
- name: Install dependencies
|
||||
if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
|
||||
env:
|
||||
TMPDIR: ~/tmp
|
||||
TEMP: ~/tmp
|
||||
TMP: ~/tmp
|
||||
run: |
|
||||
mkdir ~/tmp
|
||||
poetry install --no-interaction --no-root --all-extras
|
||||
|
||||
- name: Save cached venv
|
||||
if: |
|
||||
steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
|
||||
github.ref_name == 'main'
|
||||
id: save-dependencies-cache
|
||||
uses: actions/cache/save@v3
|
||||
with:
|
||||
path: .venv
|
||||
key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
|
||||
|
||||
- name: Install libegl1-mesa-dev (to use MUJOCO_GL=egl)
|
||||
- name: Install EGL
|
||||
run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
|
||||
|
||||
#----------------------------------------------
|
||||
# install project
|
||||
#----------------------------------------------
|
||||
- name: Install project
|
||||
run: poetry install --no-interaction --all-extras
|
||||
|
||||
#----------------------------------------------
|
||||
# run tests & coverage
|
||||
#----------------------------------------------
|
||||
- name: Run tests
|
||||
- name: Install pip dependencies
|
||||
run: |
|
||||
source .venv/bin/activate
|
||||
pytest -v --cov=./lerobot --cov-report=xml tests
|
||||
python -m pip install --upgrade pip
|
||||
pip install -e ".[test, aloha, xarm, pusht]"
|
||||
|
||||
# TODO(aliberts): Link with HF Codecov account
|
||||
# - name: Upload coverage reports to Codecov with GitHub Action
|
||||
# uses: codecov/codecov-action@v4
|
||||
# with:
|
||||
# files: ./coverage.xml
|
||||
# verbose: true
|
||||
- name: Test with pytest
|
||||
run: pytest -v --cov=./lerobot tests
|
||||
|
||||
#----------------------------------------------
|
||||
# run end-to-end tests
|
||||
#----------------------------------------------
|
||||
- name: Test train ACT on ALOHA end-to-end
|
||||
run: |
|
||||
source .venv/bin/activate
|
||||
python lerobot/scripts/train.py \
|
||||
policy=act \
|
||||
env=aloha \
|
||||
wandb.enable=False \
|
||||
offline_steps=2 \
|
||||
online_steps=0 \
|
||||
eval_episodes=1 \
|
||||
device=cpu \
|
||||
save_model=true \
|
||||
save_freq=2 \
|
||||
policy.n_action_steps=20 \
|
||||
policy.chunk_size=20 \
|
||||
policy.batch_size=2 \
|
||||
hydra.run.dir=tests/outputs/act/
|
||||
|
||||
- name: Test eval ACT on ALOHA end-to-end
|
||||
run: |
|
||||
source .venv/bin/activate
|
||||
python lerobot/scripts/eval.py \
|
||||
--config tests/outputs/act/.hydra/config.yaml \
|
||||
eval_episodes=1 \
|
||||
env.episode_length=8 \
|
||||
device=cpu \
|
||||
policy.pretrained_model_path=tests/outputs/act/models/2.pt
|
||||
|
||||
- name: Test train Diffusion on PushT end-to-end
|
||||
run: |
|
||||
source .venv/bin/activate
|
||||
python lerobot/scripts/train.py \
|
||||
policy=diffusion \
|
||||
env=pusht \
|
||||
wandb.enable=False \
|
||||
offline_steps=2 \
|
||||
online_steps=0 \
|
||||
eval_episodes=1 \
|
||||
device=cpu \
|
||||
save_model=true \
|
||||
save_freq=2 \
|
||||
policy.batch_size=2 \
|
||||
hydra.run.dir=tests/outputs/diffusion/
|
||||
|
||||
- name: Test eval Diffusion on PushT end-to-end
|
||||
run: |
|
||||
source .venv/bin/activate
|
||||
python lerobot/scripts/eval.py \
|
||||
--config tests/outputs/diffusion/.hydra/config.yaml \
|
||||
eval_episodes=1 \
|
||||
env.episode_length=8 \
|
||||
device=cpu \
|
||||
policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
|
||||
|
||||
- name: Test train TDMPC on Simxarm end-to-end
|
||||
run: |
|
||||
source .venv/bin/activate
|
||||
python lerobot/scripts/train.py \
|
||||
policy=tdmpc \
|
||||
env=xarm \
|
||||
wandb.enable=False \
|
||||
offline_steps=1 \
|
||||
online_steps=2 \
|
||||
eval_episodes=1 \
|
||||
env.episode_length=2 \
|
||||
device=cpu \
|
||||
save_model=true \
|
||||
save_freq=2 \
|
||||
policy.batch_size=2 \
|
||||
hydra.run.dir=tests/outputs/tdmpc/
|
||||
|
||||
- name: Test eval TDMPC on Simxarm end-to-end
|
||||
run: |
|
||||
source .venv/bin/activate
|
||||
python lerobot/scripts/eval.py \
|
||||
--config tests/outputs/tdmpc/.hydra/config.yaml \
|
||||
eval_episodes=1 \
|
||||
env.episode_length=8 \
|
||||
device=cpu \
|
||||
policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
|
||||
- name: Test end-to-end
|
||||
run: make test-end-to-end
|
||||
|
||||
Reference in New Issue
Block a user