48 lines
1.1 KiB
Markdown
48 lines
1.1 KiB
Markdown
# CALVIN Benchmark
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This example runs the CALVIN benchmark: https://github.com/mees/calvin
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## With Docker
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```bash
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export SERVER_ARGS="--env CALVIN"
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docker compose -f examples/calvin/compose.yml up --build
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```
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## Without Docker
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Terminal window 1:
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```bash
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cd $OPENPI_ROOT
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conda create -n calvin python=3.8
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conda activate calvin
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git clone --recurse-submodules https://github.com/mees/calvin.git
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cd calvin
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pip install setuptools==57.5.0
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./install.sh
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pip install imageio[ffmpeg] moviepy numpy==1.23.0 tqdm tyro websockets msgpack
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ENV PYTHONPATH=$PYTHONPATH:$OPENPI_ROOT/packages/openpi-client/src
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# Download CALVIN dataset, see https://github.com/mees/calvin/blob/main/dataset/download_data.sh
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export CALVIN_DATASETS_DIR=~/datasets
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export CALVIN_DATASET=calvin_debug_dataset
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mkdir -p $CALVIN_DATASETS_DIR && cd $CALVIN_DATASETS_DIR
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wget http://calvin.cs.uni-freiburg.de/dataset/$CALVIN_DATASET.zip
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unzip $CALVIN_DATASET.zip
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rm $CALVIN_DATASET.zip
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# Run the simulation
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cd $OPENPI_ROOT
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python examples/calvin/main.py --args.calvin_data_path=$CALVIN_DATASETS_DIR
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```
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Terminal window 2:
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```bash
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# Run the server
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uv run scripts/serve_policy.py --env CALVIN
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```
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