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Makefile
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.PHONY: tests
PYTHON_PATH := $(shell which python)
# If Poetry is installed, redefine PYTHON_PATH to use the Poetry-managed Python
POETRY_CHECK := $(shell command -v poetry)
ifneq ($(POETRY_CHECK),)
PYTHON_PATH := $(shell poetry run which python)
endif
export PATH := $(dir $(PYTHON_PATH)):$(PATH)
DEVICE ?= cpu
build-cpu:
docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
build-gpu:
docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
test-end-to-end:
${MAKE} DEVICE=$(DEVICE) test-act-ete-train
${MAKE} DEVICE=$(DEVICE) test-act-ete-eval
${MAKE} DEVICE=$(DEVICE) test-act-ete-train-amp
${MAKE} DEVICE=$(DEVICE) test-act-ete-eval-amp
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-train
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
${MAKE} DEVICE=$(DEVICE) test-default-ete-eval
${MAKE} DEVICE=$(DEVICE) test-act-pusht-tutorial
test-act-ete-train:
python lerobot/scripts/train.py \
policy=act \
policy.dim_model=64 \
env=aloha \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
training.batch_size=2 \
hydra.run.dir=tests/outputs/act/
test-act-ete-eval:
python lerobot/scripts/eval.py \
-p tests/outputs/act/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
test-act-ete-train-amp:
python lerobot/scripts/train.py \
policy=act \
policy.dim_model=64 \
env=aloha \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
policy.n_action_steps=20 \
policy.chunk_size=20 \
training.batch_size=2 \
hydra.run.dir=tests/outputs/act_amp/ \
use_amp=true
test-act-ete-eval-amp:
python lerobot/scripts/eval.py \
-p tests/outputs/act_amp/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
use_amp=true
test-diffusion-ete-train:
python lerobot/scripts/train.py \
policy=diffusion \
policy.down_dims=\[64,128,256\] \
policy.diffusion_step_embed_dim=32 \
policy.num_inference_steps=10 \
env=pusht \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
training.batch_size=2 \
hydra.run.dir=tests/outputs/diffusion/
test-diffusion-ete-eval:
python lerobot/scripts/eval.py \
-p tests/outputs/diffusion/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
# TODO(alexander-soare): Restore online_steps to 2 when it is reinstated.
test-tdmpc-ete-train:
python lerobot/scripts/train.py \
policy=tdmpc \
env=xarm \
env.task=XarmLift-v0 \
dataset_repo_id=lerobot/xarm_lift_medium \
wandb.enable=False \
training.offline_steps=2 \
training.online_steps=0 \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=2 \
device=$(DEVICE) \
training.save_checkpoint=true \
training.save_freq=2 \
training.batch_size=2 \
hydra.run.dir=tests/outputs/tdmpc/
test-tdmpc-ete-eval:
python lerobot/scripts/eval.py \
-p tests/outputs/tdmpc/checkpoints/000002/pretrained_model \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
test-default-ete-eval:
python lerobot/scripts/eval.py \
--config lerobot/configs/default.yaml \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=8 \
device=$(DEVICE) \
test-act-pusht-tutorial:
cp examples/advanced/1_train_act_pusht/act_pusht.yaml lerobot/configs/policy/created_by_Makefile.yaml
python lerobot/scripts/train.py \
policy=created_by_Makefile.yaml \
env=pusht \
wandb.enable=False \
training.offline_steps=2 \
eval.n_episodes=1 \
eval.batch_size=1 \
env.episode_length=2 \
device=$(DEVICE) \
training.save_model=true \
training.save_freq=2 \
training.batch_size=2 \
hydra.run.dir=tests/outputs/act_pusht/
rm lerobot/configs/policy/created_by_Makefile.yaml