File size: 3,403 Bytes
4dd2a98 a73cb4e 4dd2a98 cb69f00 6aaad38 4dd2a98 cb69f00 6aaad38 4dd2a98 cb69f00 a73cb4e 6aaad38 4dd2a98 cb69f00 4dd2a98 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 | #!/usr/bin/env bash
# HF Jobs script: run scripts/chunk_eval.py for one checkpoint and sync results to the dataset repo.
#
# Settings come from environment variables passed with `hf jobs run -e KEY=VALUE`:
# CKPT "official" (the official Hub checkpoint, converted in the job) or
# "hub:<repo>@<revision>:<subfolder>" (e.g. hub:FTG64/act_aloha_transfer_cube@025000:checkpoints/025000/pretrained_model)
# LABEL short name recorded in the results and used for the output folder (results/<RUN>)
# RUN output folder name inside results/ of the dataset repo
# GRID validation | core | te_weights ONLY optional space-separated condition names
# SEEDS start:stop WORKERS / NENVS / BLOCK parallelism settings
# VIDEOS videos per condition (default 0)
# MODES optional space-separated modes (default: chunk_eval.py's MODES), e.g. "full replan50 replan25 replan10 te"
# WINDOW displacement step window start:end (default: chunk_eval.py's) DETERMINISTIC=1 for fixed GPU kernels
# LOGTRAJ log arm trajectories for the first N steps TECOEFFS ensembling coefficients for GRID=te_weights
#
# Submit from the repo root after uploading scripts/ to the dataset repo as code/scripts/, e.g.:
# hf jobs run --flavor l4x1 --timeout 3h --secrets HF_TOKEN --name act-grid \
# -e CKPT=official -e LABEL=official -e RUN=core_official -e GRID=core -e SEEDS=1000:1200 \
# huggingface/lerobot-gpu:latest bash -c "$(cat scripts/jobs/run_grid.sh)"
set -euo pipefail
export PYTHONUNBUFFERED=1
cd /lerobot
REPO=FTG64/act-chunking-study
STUDY=/tmp/study
: "${CKPT:?}" "${LABEL:?}" "${RUN:?}" "${GRID:?}" "${SEEDS:?}"
WORKERS=${WORKERS:-7}; NENVS=${NENVS:-5}; BLOCK=${BLOCK:-25}; VIDEOS=${VIDEOS:-0}; ONLY=${ONLY:-}
MODES=${MODES:-}; WINDOW=${WINDOW:-}; DETERMINISTIC=${DETERMINISTIC:-0}; LOGTRAJ=${LOGTRAJ:-0}; TECOEFFS=${TECOEFFS:-}
(while true; do echo "[mem $(date +%H:%M:%S)] $(free -m | awk '/Mem:/ {print $3 " MB used of " $2 " MB"}')"; sleep 60; done) &
MEM_PID=$!
trap 'kill $MEM_PID 2>/dev/null || true' EXIT
hf download "$REPO" --repo-type dataset --include "code/*" --local-dir "$STUDY" > /dev/null
if [ "$CKPT" = "official" ]; then
python src/lerobot/processor/migrate_policy_normalization.py \
--pretrained-path lerobot/act_aloha_sim_transfer_cube_human --output-dir /tmp/policy > /tmp/migrate.log 2>&1
POLICY=/tmp/policy
else
spec=${CKPT#hub:}; repo=${spec%%@*}; rest=${spec#*@}; rev=${rest%%:*}; sub=${rest#*:}
hf download "$repo" --revision "$rev" --include "$sub/*" --local-dir /tmp/policy_dl > /dev/null
POLICY=/tmp/policy_dl/$sub
fi
echo "== policy ready: $LABEL ($POLICY)"
extra=() # word-splitting of $ONLY and $MODES is intended
if [ -n "$ONLY" ]; then extra+=(--only $ONLY); fi
if [ -n "$MODES" ]; then extra+=(--modes $MODES); fi
if [ -n "$WINDOW" ]; then extra+=(--window "$WINDOW"); fi
if [ "$DETERMINISTIC" = "1" ]; then extra+=(--deterministic); fi
if [ "$LOGTRAJ" != "0" ]; then extra+=(--log-trajectory "$LOGTRAJ"); fi
if [ -n "$TECOEFFS" ]; then extra+=(--te-coeffs $TECOEFFS); fi
python "$STUDY/code/scripts/chunk_eval.py" --checkpoint "$POLICY" --checkpoint-label "$LABEL" --grid "$GRID" \
"${extra[@]}" --seeds "$SEEDS" --block "$BLOCK" --n-envs "$NENVS" --workers "$WORKERS" \
--videos-per-condition "$VIDEOS" --out "/tmp/$RUN" --hub-repo "$REPO"
echo "== done: results/$RUN in $REPO"
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