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This commit is contained in:
Jade Choghari
2025-09-10 11:32:54 +02:00
parent 1ba896598e
commit 5c628f1700
33 changed files with 9085 additions and 39 deletions
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examples/6_evaluate_libero.sh
+44 -5
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@@ -1,14 +1,45 @@
#!/bin/bash
unset LEROBOT_HOME
unset HF_LEROBOT_HOME
# storage / caches
RAID=/raid/jade
export TRANSFORMERS_CACHE=$RAID/.cache/huggingface/transformers
export HF_HOME=$RAID/.cache/huggingface
export HF_DATASETS_CACHE=$RAID/.cache/huggingface/datasets
export HF_LEROBOT_HOME=$RAID/.cache/huggingface/lerobot
export WANDB_CACHE_DIR=$RAID/.cache/wandb
export TMPDIR=$RAID/.cache/tmp
mkdir -p $TMPDIR
export WANDB_MODE=offline
export HF_DATASETS_OFFLINE=1
export HF_HUB_OFFLINE=1
export TOKENIZERS_PARALLELISM=false
export MUJOCO_GL=egl
export CUDA_VISIBLE_DEVICES=3
# CONFIGURATION
POLICY_PATH="bicmol/smolvla-libero"
POLICY_PATH="/raid/jade/logs/lerobot/lerobot_2_HuggingFaceVLA_libero_smolvla_lr1e-4bs32steps100000/checkpoints/100000/pretrained_model"
POLICY_PATH="/raid/jade/models/smolvlamust"
TASK=libero_spatial
ENV_TYPE="libero"
BATCH_SIZE=1
N_EPISODES=1
BATCH_SIZE=10
N_EPISODES=10
# storage / caches
RAID=/raid/jade
N_ACTION_STEPS=1
export TRANSFORMERS_CACHE=$RAID/.cache/huggingface/transformers
export HF_HOME=$RAID/.cache/huggingface
export HF_DATASETS_CACHE=$RAID/.cache/huggingface/datasets
export HF_LEROBOT_HOME=$RAID/.cache/huggingface/lerobot
export WANDB_CACHE_DIR=$RAID/.cache/wandb
export TMPDIR=$RAID/.cache/tmp
mkdir -p $TMPDIR
export WANDB_MODE=offline
# export HF_DATASETS_OFFLINE=1
# export HF_HUB_OFFLINE=1
export TOKENIZERS_PARALLELISM=false
export MUJOCO_GL=egl
export MUJOCO_GL=egl
unset HF_HUB_OFFLINE
# RUN EVALUATION
python src/lerobot/scripts/eval.py \
--policy.path="$POLICY_PATH" \
@@ -17,3 +48,11 @@ python src/lerobot/scripts/eval.py \
--eval.n_episodes="$N_EPISODES" \
--env.multitask_eval=False \
--env.task=$TASK \
# python examples/evaluate_libero.py \
# --policy_path "$POLICY_PATH" \
# --task_suite_name "$TASK" \
# --num_steps_wait 10 \
# --num_trials_per_task 10 \
# --video_out_path "data/libero/videos" \
# --device "cuda" \
# --seed 7