Merge remote-tracking branch 'origin/main' into user/aliberts/2024_11_25_compute_stats_v2

Author: aliberts

Makefile

@@ -26,7 +26,6 @@ test-end-to-end:
 	${MAKE} DEVICE=$(DEVICE) test-diffusion-ete-eval
 	${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train
 	${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-eval
-	${MAKE} DEVICE=$(DEVICE) test-tdmpc-ete-train-with-online
 
 test-act-ete-train:
 	python lerobot/scripts/train.py \
@@ -105,7 +104,7 @@ test-tdmpc-ete-train:
 		--env.episode_length=5 \
 		--dataset.repo_id=lerobot/xarm_lift_medium \
 		--dataset.image_transforms.enable=true \
-		--dataset.episodes='[0]' \
+		--dataset.episodes="[0]" \
 		--batch_size=2 \
 		--offline.steps=2 \
 		--online.steps=0 \
@@ -128,28 +127,29 @@ test-tdmpc-ete-eval:
 		--eval.batch_size=1 \
 		--device=$(DEVICE)
 
-test-tdmpc-ete-train-with-online:
-	python lerobot/scripts/train.py \
-		--policy.type=tdmpc \
-		--env.type=pusht \
-		--env.obs_type=environment_state_agent_pos \
-		--env.episode_length=5 \
-		--dataset.repo_id=lerobot/pusht_keypoints \
-		--dataset.image_transforms.enable=true \
-		--dataset.episodes='[0]' \
-		--batch_size=2 \
-		--offline.steps=2 \
-		--online.steps=20 \
-		--online.rollout_n_episodes=2 \
-		--online.rollout_batch_size=2 \
-		--online.steps_between_rollouts=10 \
-		--online.buffer_capacity=1000 \
-		--online.env_seed=10000 \
-		--save_checkpoint=false \
-		--save_freq=10 \
-		--log_freq=1 \
-		--eval.use_async_envs=true \
-		--eval.n_episodes=1 \
-		--eval.batch_size=1 \
-		--device=$(DEVICE) \
-		--output_dir=tests/outputs/tdmpc_online/
+# TODO(rcadene): fix online buffer to storing "task"
+# test-tdmpc-ete-train-with-online:
+# 	python lerobot/scripts/train.py \
+# 		--policy.type=tdmpc \
+# 		--env.type=pusht \
+# 		--env.obs_type=environment_state_agent_pos \
+# 		--env.episode_length=5 \
+# 		--dataset.repo_id=lerobot/pusht_keypoints \
+# 		--dataset.image_transforms.enable=true \
+# 		--dataset.episodes="[0]" \
+# 		--batch_size=2 \
+# 		--offline.steps=2 \
+# 		--online.steps=20 \
+# 		--online.rollout_n_episodes=2 \
+# 		--online.rollout_batch_size=2 \
+# 		--online.steps_between_rollouts=10 \
+# 		--online.buffer_capacity=1000 \
+# 		--online.env_seed=10000 \
+# 		--save_checkpoint=false \
+# 		--save_freq=10 \
+# 		--log_freq=1 \
+# 		--eval.use_async_envs=true \
+# 		--eval.n_episodes=1 \
+# 		--eval.batch_size=1 \
+# 		--device=$(DEVICE) \
+# 		--output_dir=tests/outputs/tdmpc_online/

docker/lerobot-cpu/Dockerfile

@@ -7,9 +7,9 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 # Install apt dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    build-essential cmake \
+    build-essential cmake git git-lfs \
     libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
-    speech-dispatcher \
+    speech-dispatcher libgeos-dev \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 
 # Create virtual environment
@@ -19,7 +19,8 @@ ENV PATH="/opt/venv/bin:$PATH"
 RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
 
 # Install LeRobot
-COPY . /lerobot
+RUN git lfs install
+RUN git clone https://github.com/huggingface/lerobot.git /lerobot
 WORKDIR /lerobot
 RUN pip install --upgrade --no-cache-dir pip
 RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]" \

docker/lerobot-gpu-dev/Dockerfile

@@ -13,7 +13,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sed gawk grep curl wget zip unzip \
     tcpdump sysstat screen tmux \
     libglib2.0-0 libgl1-mesa-glx libegl1-mesa \
-    speech-dispatcher portaudio19-dev \
+    speech-dispatcher portaudio19-dev libgeos-dev \
     python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 

docker/lerobot-gpu/Dockerfile

@@ -7,9 +7,9 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 # Install apt dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    build-essential cmake \
+    build-essential cmake git git-lfs \
     libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
-    speech-dispatcher \
+    speech-dispatcher libgeos-dev \
     python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-venv \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 
@@ -21,7 +21,8 @@ ENV PATH="/opt/venv/bin:$PATH"
 RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
 
 # Install LeRobot
-COPY . /lerobot
+RUN git lfs install
+RUN git clone https://github.com/huggingface/lerobot.git /lerobot
 WORKDIR /lerobot
 RUN pip install --upgrade --no-cache-dir pip
 RUN pip install --no-cache-dir ".[test, aloha, xarm, pusht, dynamixel]"