CI nightlies cpu/gpu & cleanup (#75)
This commit is contained in:
Simon Alibert
197
.github/workflows/test.yml
vendored
197
.github/workflows/test.yml
vendored
@@ -4,210 +4,43 @@ on:
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pull_request:
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branches:
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- main
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types: [opened, synchronize, reopened, labeled]
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push:
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branches:
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- main
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jobs:
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tests:
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if: |
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${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} ||
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${{ github.event_name == 'push' }}
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runs-on: ubuntu-latest
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env:
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POETRY_VERSION: 1.8.2
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DATA_DIR: tests/data
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MUJOCO_GL: egl
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steps:
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#----------------------------------------------
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# check-out repo and set-up python
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#----------------------------------------------
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- name: Check out repository
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uses: actions/checkout@v4
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with:
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lfs: true
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- name: Set up python
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id: setup-python
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uses: actions/setup-python@v5
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with:
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python-version: '3.10'
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- name: Add SSH key for installing envs
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uses: webfactory/ssh-agent@v0.9.0
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with:
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ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
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#----------------------------------------------
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# install & configure poetry
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#----------------------------------------------
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- name: Load cached Poetry installation
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id: restore-poetry-cache
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uses: actions/cache/restore@v3
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- uses: actions/checkout@v4
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with:
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path: ~/.local
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key: poetry-${{ env.POETRY_VERSION }}
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lfs: true
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- name: Install Poetry
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if: steps.restore-poetry-cache.outputs.cache-hit != 'true'
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uses: snok/install-poetry@v1
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- name: Set up Python 3.10
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uses: actions/setup-python@v5
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with:
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version: ${{ env.POETRY_VERSION }}
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virtualenvs-create: true
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installer-parallel: true
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python-version: "3.10"
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cache: ${{ (github.ref == 'refs/heads/main') && 'pip' || '' }}
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cache-dependency-path: pyproject.toml
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- name: Save cached Poetry installation
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if: |
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steps.restore-poetry-cache.outputs.cache-hit != 'true' &&
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github.ref_name == 'main'
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id: save-poetry-cache
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uses: actions/cache/save@v3
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with:
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path: ~/.local
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key: poetry-${{ env.POETRY_VERSION }}
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- name: Configure Poetry
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run: poetry config virtualenvs.in-project true
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#----------------------------------------------
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# install dependencies
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#----------------------------------------------
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# TODO(aliberts): move to gpu runners
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- name: Select cpu dependencies # HACK
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run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock
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- name: Load cached venv
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id: restore-dependencies-cache
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uses: actions/cache/restore@v3
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with:
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path: .venv
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key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
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- name: Install dependencies
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if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
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env:
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TMPDIR: ~/tmp
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TEMP: ~/tmp
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TMP: ~/tmp
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run: |
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mkdir ~/tmp
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poetry install --no-interaction --no-root --all-extras
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- name: Save cached venv
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if: |
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steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
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github.ref_name == 'main'
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id: save-dependencies-cache
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uses: actions/cache/save@v3
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with:
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path: .venv
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key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
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- name: Install libegl1-mesa-dev (to use MUJOCO_GL=egl)
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- name: Install EGL
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run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
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#----------------------------------------------
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# install project
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#----------------------------------------------
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- name: Install project
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run: poetry install --no-interaction --all-extras
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#----------------------------------------------
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# run tests & coverage
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#----------------------------------------------
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- name: Run tests
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- name: Install pip dependencies
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run: |
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source .venv/bin/activate
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pytest -v --cov=./lerobot --cov-report=xml tests
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python -m pip install --upgrade pip
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pip install -e ".[test, aloha, xarm, pusht]"
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# TODO(aliberts): Link with HF Codecov account
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# - name: Upload coverage reports to Codecov with GitHub Action
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# uses: codecov/codecov-action@v4
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# with:
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# files: ./coverage.xml
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# verbose: true
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- name: Test with pytest
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run: pytest -v --cov=./lerobot tests
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#----------------------------------------------
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# run end-to-end tests
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#----------------------------------------------
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- name: Test train ACT on ALOHA end-to-end
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run: |
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source .venv/bin/activate
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python lerobot/scripts/train.py \
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policy=act \
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env=aloha \
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wandb.enable=False \
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offline_steps=2 \
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online_steps=0 \
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eval_episodes=1 \
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device=cpu \
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save_model=true \
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save_freq=2 \
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policy.n_action_steps=20 \
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policy.chunk_size=20 \
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policy.batch_size=2 \
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hydra.run.dir=tests/outputs/act/
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- name: Test eval ACT on ALOHA end-to-end
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run: |
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source .venv/bin/activate
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python lerobot/scripts/eval.py \
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--config tests/outputs/act/.hydra/config.yaml \
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eval_episodes=1 \
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env.episode_length=8 \
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device=cpu \
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policy.pretrained_model_path=tests/outputs/act/models/2.pt
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- name: Test train Diffusion on PushT end-to-end
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run: |
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source .venv/bin/activate
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python lerobot/scripts/train.py \
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policy=diffusion \
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env=pusht \
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wandb.enable=False \
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offline_steps=2 \
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online_steps=0 \
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eval_episodes=1 \
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device=cpu \
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save_model=true \
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save_freq=2 \
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policy.batch_size=2 \
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hydra.run.dir=tests/outputs/diffusion/
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- name: Test eval Diffusion on PushT end-to-end
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run: |
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source .venv/bin/activate
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python lerobot/scripts/eval.py \
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--config tests/outputs/diffusion/.hydra/config.yaml \
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eval_episodes=1 \
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env.episode_length=8 \
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device=cpu \
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policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
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- name: Test train TDMPC on Simxarm end-to-end
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run: |
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source .venv/bin/activate
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python lerobot/scripts/train.py \
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policy=tdmpc \
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env=xarm \
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wandb.enable=False \
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offline_steps=1 \
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online_steps=2 \
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eval_episodes=1 \
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env.episode_length=2 \
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device=cpu \
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save_model=true \
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save_freq=2 \
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policy.batch_size=2 \
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hydra.run.dir=tests/outputs/tdmpc/
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- name: Test eval TDMPC on Simxarm end-to-end
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run: |
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source .venv/bin/activate
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python lerobot/scripts/eval.py \
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--config tests/outputs/tdmpc/.hydra/config.yaml \
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eval_episodes=1 \
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env.episode_length=8 \
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device=cpu \
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policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
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- name: Test end-to-end
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run: make test-end-to-end
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