new things

examples/6_evaluate_libero_2.sh

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+#!/bin/bash
+
+# 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 $TMPDIR
+export WANDB_MODE=offline
+export HF_DATASETS_OFFLINE=1
+export HF_HUB_OFFLINE=1
+export TOKENIZERS_PARALLELISM=false
+export MUJOCO_GL=egl
+export CUDA_VISIBLE_DEVICES=3
+
+# CONFIGURATION
+POLICY_PATH="/raid/jade/logs/lerobot/lerobot_2_HuggingFaceVLA_libero_smolvla_lr1e-4bs32steps100000/checkpoints/100000/pretrained_model"
+POLICY_PATH="AustineJohnBreaker/smolvla_stratch_libero_spatial"
+TASK=libero_spatial
+ENV_TYPE="libero"
+BATCH_SIZE=10
+N_EPISODES=10
+USE_AMP=false
+N_ACTION_STEPS=1
+SELF_ATTN_EVERY_N_LAYERS=2
+VLM_NAME=HuggingFaceTB/SmolVLM-500M-Instruct
+PAD_LANG_TO=longest
+LOAD_VLM_WEIGHTS=true
+NUM_VLM_LAYERS=16
+CHUNK_SIZE=50
+N_OBS_STEPS=1
+NUM_EXPERT_LAYERS=0
+EXPERT_WIDTH_MULTIPLIER=0.5
+
+
+# storage / caches
+RAID=/raid/jade
+export TRANSFORMERS_CACHE=$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 $TMPDIR
+export WANDB_MODE=offline
+# export HF_DATASETS_OFFLINE=1
+# export HF_HUB_OFFLINE=1
+export TOKENIZERS_PARALLELISM=false
+export MUJOCO_GL=egl
+export MUJOCO_GL=egl
+ADD_IMAGE_TOKENS=true
+unset HF_HUB_OFFLINE
+# RUN EVALUATION
+python src/lerobot/scripts/eval.py \
+    --policy.path="$POLICY_PATH" \
+    --env.type="$ENV_TYPE" \
+    --eval.batch_size="$BATCH_SIZE" \
+    --eval.n_episodes="$N_EPISODES" \
+    --env.multitask_eval=False \
+    --env.task=$TASK \
+    --policy.use_amp=$USE_AMP \
+    --policy.n_action_steps=$N_ACTION_STEPS \
+    # --policy.add_image_special_tokens=$ADD_IMAGE_TOKENS \
+    --policy.attention_mode=$ATTN_MODE \
+    --policy.self_attn_every_n_layers=$SELF_ATTN_EVERY_N_LAYERS \
+    --policy.vlm_model_name=$VLM_NAME \
+    --policy.pad_language_to=$PAD_LANG_TO \
+    --policy.load_vlm_weights=$LOAD_VLM_WEIGHTS \
+    --policy.num_vlm_layers=$NUM_VLM_LAYERS \
+    --policy.chunk_size=$CHUNK_SIZE \
+    --policy.n_obs_steps=$N_OBS_STEPS \
+    --policy.num_expert_layers=$NUM_EXPERT_LAYERS \
+    --policy.expert_width_multiplier=$EXPERT_WIDTH_MULTIPLIER \