mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-17 01:30:14 +00:00
Jade Choghari
77 lines
2.4 KiB
Bash
77 lines
2.4 KiB
Bash
#!/bin/bash
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# storage / caches
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RAID=/raid/jade
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export TRANSFORMERS_CACHE=$RAID/.cache/huggingface/transformers
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export HF_HOME=$RAID/.cache/huggingface
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export HF_DATASETS_CACHE=$RAID/.cache/huggingface/datasets
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export HF_LEROBOT_HOME=$RAID/.cache/huggingface/lerobot
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export WANDB_CACHE_DIR=$RAID/.cache/wandb
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export TMPDIR=$RAID/.cache/tmp
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mkdir -p $TMPDIR
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export WANDB_MODE=offline
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export HF_DATASETS_OFFLINE=1
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export HF_HUB_OFFLINE=1
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export TOKENIZERS_PARALLELISM=false
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export MUJOCO_GL=egl
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export CUDA_VISIBLE_DEVICES=3
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# CONFIGURATION
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POLICY_PATH="/raid/jade/logs/lerobot/lerobot_2_HuggingFaceVLA_libero_smolvla_lr1e-4bs32steps100000/checkpoints/100000/pretrained_model"
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POLICY_PATH="AustineJohnBreaker/smolvla_stratch_libero_spatial"
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TASK=libero_spatial
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ENV_TYPE="libero"
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BATCH_SIZE=10
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N_EPISODES=10
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USE_AMP=false
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N_ACTION_STEPS=1
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SELF_ATTN_EVERY_N_LAYERS=2
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VLM_NAME=HuggingFaceTB/SmolVLM-500M-Instruct
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PAD_LANG_TO=longest
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LOAD_VLM_WEIGHTS=true
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NUM_VLM_LAYERS=16
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CHUNK_SIZE=50
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N_OBS_STEPS=1
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NUM_EXPERT_LAYERS=0
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EXPERT_WIDTH_MULTIPLIER=0.5
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# storage / caches
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RAID=/raid/jade
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export TRANSFORMERS_CACHE=$RAID/.cache/huggingface/transformers
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export HF_HOME=$RAID/.cache/huggingface
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export HF_DATASETS_CACHE=$RAID/.cache/huggingface/datasets
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export HF_LEROBOT_HOME=$RAID/.cache/huggingface/lerobot
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export WANDB_CACHE_DIR=$RAID/.cache/wandb
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export TMPDIR=$RAID/.cache/tmp
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mkdir -p $TMPDIR
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export WANDB_MODE=offline
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# export HF_DATASETS_OFFLINE=1
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# export HF_HUB_OFFLINE=1
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export TOKENIZERS_PARALLELISM=false
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export MUJOCO_GL=egl
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export MUJOCO_GL=egl
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ADD_IMAGE_TOKENS=true
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unset HF_HUB_OFFLINE
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# RUN EVALUATION
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python src/lerobot/scripts/eval.py \
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--policy.path="$POLICY_PATH" \
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--env.type="$ENV_TYPE" \
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--eval.batch_size="$BATCH_SIZE" \
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--eval.n_episodes="$N_EPISODES" \
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--env.multitask_eval=False \
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--env.task=$TASK \
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--policy.use_amp=$USE_AMP \
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--policy.n_action_steps=$N_ACTION_STEPS \
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# --policy.add_image_special_tokens=$ADD_IMAGE_TOKENS \
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--policy.attention_mode=$ATTN_MODE \
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--policy.self_attn_every_n_layers=$SELF_ATTN_EVERY_N_LAYERS \
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--policy.vlm_model_name=$VLM_NAME \
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--policy.pad_language_to=$PAD_LANG_TO \
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--policy.load_vlm_weights=$LOAD_VLM_WEIGHTS \
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--policy.num_vlm_layers=$NUM_VLM_LAYERS \
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--policy.chunk_size=$CHUNK_SIZE \
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--policy.n_obs_steps=$N_OBS_STEPS \
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--policy.num_expert_layers=$NUM_EXPERT_LAYERS \
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--policy.expert_width_multiplier=$EXPERT_WIDTH_MULTIPLIER \
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