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fix(rebase) reverting files to main

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This commit is contained in:
Michel Aractingi
2025-06-30 16:22:57 +02:00
parent c3e98db37d
commit d9b9cc80da
13 changed files with 339 additions and 74 deletions
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Makefile
+38
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@@ -40,6 +40,8 @@ test-end-to-end:
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
${MAKE} DEVICE=$(DEVICE) test-smolvla-ete-train
${MAKE} DEVICE=$(DEVICE) test-smolvla-ete-eval
test-act-ete-train:
python lerobot/scripts/train.py \
@@ -48,6 +50,7 @@ test-act-ete-train:
--policy.n_action_steps=20 \
--policy.chunk_size=20 \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--env.type=aloha \
--env.episode_length=5 \
--dataset.repo_id=lerobot/aloha_sim_transfer_cube_human \
@@ -85,6 +88,7 @@ test-diffusion-ete-train:
--policy.diffusion_step_embed_dim=32 \
--policy.num_inference_steps=10 \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--env.type=pusht \
--env.episode_length=5 \
--dataset.repo_id=lerobot/pusht \
@@ -114,6 +118,7 @@ test-tdmpc-ete-train:
python lerobot/scripts/train.py \
--policy.type=tdmpc \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--env.type=xarm \
--env.task=XarmLift-v0 \
--env.episode_length=5 \
@@ -140,3 +145,36 @@ test-tdmpc-ete-eval:
--env.task=XarmLift-v0 \
--eval.n_episodes=1 \
--eval.batch_size=1
test-smolvla-ete-train:
python lerobot/scripts/train.py \
--policy.type=smolvla \
--policy.n_action_steps=20 \
--policy.chunk_size=20 \
--policy.device=$(DEVICE) \
--policy.push_to_hub=false \
--env.type=aloha \
--env.episode_length=5 \
--dataset.repo_id=lerobot/aloha_sim_transfer_cube_human \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--steps=4 \
--eval_freq=2 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--save_freq=2 \
--save_checkpoint=true \
--log_freq=1 \
--wandb.enable=false \
--output_dir=tests/outputs/smolvla/
test-smolvla-ete-eval:
python lerobot/scripts/eval.py \
--policy.path=tests/outputs/smolvla/checkpoints/000004/pretrained_model \
--policy.device=$(DEVICE) \
--env.type=aloha \
--env.episode_length=5 \
--eval.n_episodes=1 \
--eval.batch_size=1