| # HF Jobs script for the Day 2 milestone and a GPU-noise check. | |
| # | |
| # 1. Our checkpoints at 25k/50k/75k/100k steps: full chunk, zero delay, seeds 1000-1199. | |
| # 2. The official checkpoint on seeds 1000-1499, the same 500 seeds as its published eval_info.json. | |
| # 3. Noise floor: the same lerobot-eval command twice (seeds 1000-1024). If the summed rewards | |
| # differ between the two runs, GPU nondeterminism is confirmed. | |
| # 4. The same harness command twice with --deterministic. This checks whether fixed kernels make | |
| # reruns identical. | |
| # | |
| # Upload scripts/ to the dataset repo as code/scripts/, then submit from the repo root: | |
| # hf jobs run --flavor l4x1 --timeout 90m --secrets HF_TOKEN --name act-ckpt-eval \ | |
| # huggingface/lerobot-gpu:latest bash -c "$(cat scripts/jobs/eval_checkpoints.sh)" | |
| # NOTE (2026-09-28): the first run of this script hung in step 3. A bare `wait` also waits for the | |
| # background memory monitor, which never exits. Steps 3-4 now live in scripts/jobs/noise_floor.sh, | |
| # which waits on specific PIDs only. | |
| set -euo pipefail | |
| export PYTHONUNBUFFERED=1 | |
| cd /lerobot | |
| REPO=FTG64/act-chunking-study | |
| MODEL=FTG64/act_aloha_transfer_cube | |
| STUDY=/tmp/study | |
| WORKERS=7 | |
| (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 "$STUDY" > /dev/null | |
| CODE="$STUDY/code/scripts" | |
| full_mode() { # label policy_dir seeds [extra harness args...] | |
| local label=$1 policy=$2 seeds=$3; shift 3 | |
| python "$CODE/chunk_eval.py" --checkpoint "$policy" --checkpoint-label "$label" --grid validation \ | |
| --only full_d00_m0 --seeds "$seeds" --block 25 --n-envs 5 --workers "$WORKERS" \ | |
| --out "/tmp/$label" --hub-repo "$REPO" "$@" | grep -E "tasks to run|finished" | |
| } | |
| for step in 025000 050000 075000 100000; do | |
| echo "== ours, checkpoint $step" | |
| hf download "$MODEL" --revision "$step" --include "checkpoints/$step/pretrained_model/*" --local-dir /tmp/ours > /dev/null | |
| full_mode "ckpt_ours_$step" "/tmp/ours/checkpoints/$step/pretrained_model" 1000:1200 | |
| done | |
| echo "== official checkpoint, seeds 1000-1499" | |
| python src/lerobot/processor/migrate_policy_normalization.py \ | |
| --pretrained-path lerobot/act_aloha_sim_transfer_cube_human --output-dir /tmp/official > /tmp/migrate.log 2>&1 | |
| full_mode ckpt_official /tmp/official 1000:1500 | |
| echo "== done" | |