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add safethread support

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This commit is contained in:
Jade Choghari (jchoghar)
2025-08-25 14:52:35 -04:00
parent 4be3942cbc
commit ff861ba869
3 changed files with 43 additions and 25 deletions
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examples/5_train_libero.sh
+2 -2
View File
@@ -32,7 +32,7 @@ MAX_NUM_IMAGES=2
MAX_IMAGE_DIM=1024
unset LEROBOT_HOME
unset HF_LEROBOT_HOME
export MUJOCO_GL=egl
echo -e "\033[1;33m[WARNING]\033[0m LIBERO is not yet fully supported in this PR!"
# launch
@@ -48,6 +48,6 @@ python src/lerobot/scripts/train.py \
--save_freq=$SAVE_FREQ \
--num_workers=$NUM_WORKERS \
--policy.repo_id=$VLM_REPO_ID \
--env.multitask_eval=True \
--env.multitask_eval=False \
--eval.batch_size=1 \
--eval.n_episodes=1 \
examples/6_evaluate_libero.sh
+2 -2
View File
@@ -8,12 +8,12 @@ TASK=libero_object
ENV_TYPE="libero"
BATCH_SIZE=1
N_EPISODES=1
export MUJOCO_GL=egl
# RUN EVALUATION
python src/lerobot/scripts/eval.py \
--policy.path="$POLICY_PATH" \
--env.type="$ENV_TYPE" \
--eval.batch_size="$BATCH_SIZE" \
--eval.n_episodes="$N_EPISODES" \
--env.multitask_eval=True \
--env.multitask_eval=False \
--env.task=$TASK \
src/lerobot/scripts/eval.py
+39 -21
View File
@@ -573,31 +573,49 @@ def eval_policy_multitask(
"video_paths": task_result.get("video_paths", []),
}
with concurrent.futures.ThreadPoolExecutor(max_workers=max_parallel_tasks) as executor:
future_to_task = {
executor.submit(eval_task, task_group, task_id, env): (task_group, task_id)
for task_group, tasks in envs.items()
for task_id, env in tasks.items()
}
task_group_results = {}
if max_parallel_tasks == 1:
# sequential mode (safe for colab / EGL)
for task_group, tasks in envs.items():
for task_id, env in tasks.items():
task_result = eval_task(task_group, task_id, env)
if task_group not in task_group_results:
task_group_results[task_group] = {
"sum_rewards": [],
"max_rewards": [],
"successes": [],
"video_paths": [],
}
task_group_results[task_group]["sum_rewards"].extend(task_result["sum_rewards"])
task_group_results[task_group]["max_rewards"].extend(task_result["max_rewards"])
task_group_results[task_group]["successes"].extend(task_result["successes"])
task_group_results[task_group]["video_paths"].extend(task_result["video_paths"])
else:
with concurrent.futures.ThreadPoolExecutor(max_workers=max_parallel_tasks) as executor:
future_to_task = {
executor.submit(eval_task, task_group, task_id, env): (task_group, task_id)
for task_group, tasks in envs.items()
for task_id, env in tasks.items()
}
task_group_results = {}
task_group_results = {}
for future in concurrent.futures.as_completed(future_to_task):
task_result = future.result()
task_group = task_result["task_group"]
for future in concurrent.futures.as_completed(future_to_task):
task_result = future.result()
task_group = task_result["task_group"]
if task_group not in task_group_results:
task_group_results[task_group] = {
"sum_rewards": [],
"max_rewards": [],
"successes": [],
"video_paths": [],
}
if task_group not in task_group_results:
task_group_results[task_group] = {
"sum_rewards": [],
"max_rewards": [],
"successes": [],
"video_paths": [],
}
task_group_results[task_group]["sum_rewards"].extend(task_result["sum_rewards"])
task_group_results[task_group]["max_rewards"].extend(task_result["max_rewards"])
task_group_results[task_group]["successes"].extend(task_result["successes"])
task_group_results[task_group]["video_paths"].extend(task_result["video_paths"])
task_group_results[task_group]["sum_rewards"].extend(task_result["sum_rewards"])
task_group_results[task_group]["max_rewards"].extend(task_result["max_rewards"])
task_group_results[task_group]["successes"].extend(task_result["successes"])
task_group_results[task_group]["video_paths"].extend(task_result["video_paths"])
# Process results per task group
for task_group, data in task_group_results.items():