Move normalization to policy for act and diffusion #479
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| name: Tests | |
| on: | |
| pull_request: | |
| branches: | |
| - main | |
| types: [opened, synchronize, reopened, labeled] | |
| push: | |
| branches: | |
| - main | |
| jobs: | |
| tests: | |
| if: | | |
| ${{ github.event_name == 'pull_request' && contains(github.event.pull_request.labels.*.name, 'CI') }} || | |
| ${{ github.event_name == 'push' }} | |
| runs-on: ubuntu-latest | |
| env: | |
| POETRY_VERSION: 1.8.2 | |
| DATA_DIR: tests/data | |
| MUJOCO_GL: egl | |
| steps: | |
| #---------------------------------------------- | |
| # check-out repo and set-up python | |
| #---------------------------------------------- | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| with: | |
| lfs: true | |
| - name: Set up python | |
| id: setup-python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: Add SSH key for installing envs | |
| uses: webfactory/[email protected] | |
| with: | |
| ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }} | |
| #---------------------------------------------- | |
| # install & configure poetry | |
| #---------------------------------------------- | |
| - name: Load cached Poetry installation | |
| id: restore-poetry-cache | |
| uses: actions/cache/restore@v3 | |
| with: | |
| path: ~/.local | |
| key: poetry-${{ env.POETRY_VERSION }} | |
| - name: Install Poetry | |
| if: steps.restore-poetry-cache.outputs.cache-hit != 'true' | |
| uses: snok/install-poetry@v1 | |
| with: | |
| version: ${{ env.POETRY_VERSION }} | |
| virtualenvs-create: true | |
| installer-parallel: true | |
| - name: Save cached Poetry installation | |
| if: | | |
| steps.restore-poetry-cache.outputs.cache-hit != 'true' && | |
| github.ref_name == 'main' | |
| id: save-poetry-cache | |
| uses: actions/cache/save@v3 | |
| with: | |
| path: ~/.local | |
| key: poetry-${{ env.POETRY_VERSION }} | |
| - name: Configure Poetry | |
| run: poetry config virtualenvs.in-project true | |
| #---------------------------------------------- | |
| # install dependencies | |
| #---------------------------------------------- | |
| # TODO(aliberts): move to gpu runners | |
| - name: Select cpu dependencies # HACK | |
| run: cp -t . .github/poetry/cpu/pyproject.toml .github/poetry/cpu/poetry.lock | |
| - name: Load cached venv | |
| id: restore-dependencies-cache | |
| uses: actions/cache/restore@v3 | |
| with: | |
| path: .venv | |
| key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }} | |
| - name: Install dependencies | |
| if: steps.restore-dependencies-cache.outputs.cache-hit != 'true' | |
| env: | |
| TMPDIR: ~/tmp | |
| TEMP: ~/tmp | |
| TMP: ~/tmp | |
| run: | | |
| mkdir ~/tmp | |
| poetry install --no-interaction --no-root --all-extras | |
| - name: Save cached venv | |
| if: | | |
| steps.restore-dependencies-cache.outputs.cache-hit != 'true' && | |
| github.ref_name == 'main' | |
| id: save-dependencies-cache | |
| uses: actions/cache/save@v3 | |
| with: | |
| path: .venv | |
| key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }} | |
| - name: Install libegl1-mesa-dev (to use MUJOCO_GL=egl) | |
| run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev | |
| #---------------------------------------------- | |
| # install project | |
| #---------------------------------------------- | |
| - name: Install project | |
| run: poetry install --no-interaction --all-extras | |
| #---------------------------------------------- | |
| # run tests & coverage | |
| #---------------------------------------------- | |
| - name: Run tests | |
| run: | | |
| source .venv/bin/activate | |
| pytest -v --cov=./lerobot --cov-report=xml tests | |
| # TODO(aliberts): Link with HF Codecov account | |
| # - name: Upload coverage reports to Codecov with GitHub Action | |
| # uses: codecov/codecov-action@v4 | |
| # with: | |
| # files: ./coverage.xml | |
| # verbose: true | |
| #---------------------------------------------- | |
| # run end-to-end tests | |
| #---------------------------------------------- | |
| - name: Test train ACT on ALOHA end-to-end | |
| run: | | |
| source .venv/bin/activate | |
| python lerobot/scripts/train.py \ | |
| policy=act \ | |
| env=aloha \ | |
| wandb.enable=False \ | |
| offline_steps=2 \ | |
| online_steps=0 \ | |
| eval_episodes=1 \ | |
| device=cpu \ | |
| save_model=true \ | |
| save_freq=2 \ | |
| policy.n_action_steps=20 \ | |
| policy.chunk_size=20 \ | |
| policy.batch_size=2 \ | |
| hydra.run.dir=tests/outputs/act/ | |
| - name: Test eval ACT on ALOHA end-to-end | |
| run: | | |
| source .venv/bin/activate | |
| python lerobot/scripts/eval.py \ | |
| --config tests/outputs/act/.hydra/config.yaml \ | |
| eval_episodes=1 \ | |
| env.episode_length=8 \ | |
| device=cpu \ | |
| policy.pretrained_model_path=tests/outputs/act/models/2.pt | |
| - name: Test train Diffusion on PushT end-to-end | |
| run: | | |
| source .venv/bin/activate | |
| python lerobot/scripts/train.py \ | |
| policy=diffusion \ | |
| env=pusht \ | |
| wandb.enable=False \ | |
| offline_steps=2 \ | |
| online_steps=0 \ | |
| eval_episodes=1 \ | |
| device=cpu \ | |
| save_model=true \ | |
| save_freq=2 \ | |
| policy.batch_size=2 \ | |
| hydra.run.dir=tests/outputs/diffusion/ | |
| - name: Test eval Diffusion on PushT end-to-end | |
| run: | | |
| source .venv/bin/activate | |
| python lerobot/scripts/eval.py \ | |
| --config tests/outputs/diffusion/.hydra/config.yaml \ | |
| eval_episodes=1 \ | |
| env.episode_length=8 \ | |
| device=cpu \ | |
| policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt | |
| - name: Test train TDMPC on Simxarm end-to-end | |
| run: | | |
| source .venv/bin/activate | |
| python lerobot/scripts/train.py \ | |
| policy=tdmpc \ | |
| env=xarm \ | |
| wandb.enable=False \ | |
| offline_steps=1 \ | |
| online_steps=2 \ | |
| eval_episodes=1 \ | |
| env.episode_length=2 \ | |
| device=cpu \ | |
| save_model=true \ | |
| save_freq=2 \ | |
| policy.batch_size=2 \ | |
| hydra.run.dir=tests/outputs/tdmpc/ | |
| - name: Test eval TDMPC on Simxarm end-to-end | |
| run: | | |
| source .venv/bin/activate | |
| python lerobot/scripts/eval.py \ | |
| --config tests/outputs/tdmpc/.hydra/config.yaml \ | |
| eval_episodes=1 \ | |
| env.episode_length=8 \ | |
| device=cpu \ | |
| policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt |