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Makefile
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.PHONY: tests
PYTHON_PATH := $(shell which python)
# If Poetry is installed, redefine PYTHON_PATH to use the Poetry-managed Python
POETRY_CHECK := $(shell command -v poetry)
ifneq ($(POETRY_CHECK),)
PYTHON_PATH := $(shell poetry run which python)
endif
export PATH := $(dir $(PYTHON_PATH)):$(PATH)
DEVICE ?= cpu
build-cpu:
docker build -t lerobot:latest -f docker/lerobot-cpu/Dockerfile .
build-gpu:
docker build -t lerobot:latest -f docker/lerobot-gpu/Dockerfile .
test-end-to-end:
${MAKE} DEVICE=$(DEVICE) test-act-ete-train
${MAKE} DEVICE=$(DEVICE) test-act-ete-train-resume
${MAKE} DEVICE=$(DEVICE) test-act-ete-eval
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-train
${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
test-act-ete-train:
python lerobot/scripts/train.py \
--policy.type=act \
--policy.dim_model=64 \
--policy.n_action_steps=20 \
--policy.chunk_size=20 \
--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 \
--device=$(DEVICE) \
--output_dir=tests/outputs/act/
test-act-ete-train-resume:
python lerobot/scripts/train.py \
--config_path=tests/outputs/act/checkpoints/000002/pretrained_model/train_config.json \
--resume=true
test-act-ete-eval:
python lerobot/scripts/eval.py \
--policy.path=tests/outputs/act/checkpoints/000004/pretrained_model \
--env.type=aloha \
--env.episode_length=5 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE)
test-diffusion-ete-train:
python lerobot/scripts/train.py \
--policy.type=diffusion \
--policy.down_dims='[64,128,256]' \
--policy.diffusion_step_embed_dim=32 \
--policy.num_inference_steps=10 \
--env.type=pusht \
--env.episode_length=5 \
--dataset.repo_id=lerobot/pusht \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--steps=2 \
--eval_freq=2 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--save_checkpoint=true \
--save_freq=2 \
--log_freq=1 \
--wandb.enable=false \
--device=$(DEVICE) \
--output_dir=tests/outputs/diffusion/
test-diffusion-ete-eval:
python lerobot/scripts/eval.py \
--policy.path=tests/outputs/diffusion/checkpoints/000002/pretrained_model \
--env.type=pusht \
--env.episode_length=5 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE)
test-tdmpc-ete-train:
python lerobot/scripts/train.py \
--policy.type=tdmpc \
--env.type=xarm \
--env.task=XarmLift-v0 \
--env.episode_length=5 \
--dataset.repo_id=lerobot/xarm_lift_medium \
--dataset.image_transforms.enable=true \
--dataset.episodes="[0]" \
--batch_size=2 \
--steps=2 \
--eval_freq=2 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--save_checkpoint=true \
--save_freq=2 \
--log_freq=1 \
--wandb.enable=false \
--device=$(DEVICE) \
--output_dir=tests/outputs/tdmpc/
test-tdmpc-ete-eval:
python lerobot/scripts/eval.py \
--policy.path=tests/outputs/tdmpc/checkpoints/000002/pretrained_model \
--env.type=xarm \
--env.episode_length=5 \
--env.task=XarmLift-v0 \
--eval.n_episodes=1 \
--eval.batch_size=1 \
--device=$(DEVICE)