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add libero

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This commit is contained in:
Jade Choghari
2025-08-05 23:55:08 -04:00
parent 06bebd97b3
commit 21a961ecbb
6 changed files with 626 additions and 59 deletions
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36
src/lerobot/scripts/train.py
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@@ -34,7 +34,7 @@ from lerobot.optim.factory import make_optimizer_and_scheduler
from lerobot.policies.factory import make_policy
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.utils import get_device_from_parameters
from lerobot.scripts.eval import eval_policy
from lerobot.scripts.eval import eval_policy, eval_policy_multitask
from lerobot.utils.logging_utils import AverageMeter, MetricsTracker
from lerobot.utils.random_utils import set_seed
from lerobot.utils.train_utils import (
@@ -252,14 +252,32 @@ def train(cfg: TrainPipelineConfig):
torch.no_grad(),
torch.autocast(device_type=device.type) if cfg.policy.use_amp else nullcontext(),
):
eval_info = eval_policy(
eval_env,
policy,
cfg.eval.n_episodes,
videos_dir=cfg.output_dir / "eval" / f"videos_step_{step_id}",
max_episodes_rendered=4,
start_seed=cfg.seed,
)
if cfg.env.multitask_eval:
eval_info = eval_policy_multitask(
eval_env,
policy,
cfg.eval.n_episodes,
videos_dir=cfg.output_dir / "eval" / f"videos_step_{step_id}",
max_episodes_rendered=4,
start_seed=cfg.seed,
max_parallel_tasks=cfg.env.max_parallel_tasks,
)
aggregated_results = eval_info["overall"]["aggregated"]
# Print per-suite stats
for task_group, task_group_info in eval_info.items():
if task_group == "overall":
continue # Skip the overall stats since we already printed it
print(f"\nAggregated Metrics for {task_group}:")
print(task_group_info["aggregated"])
else:
eval_info = eval_policy(
eval_env,
policy,
cfg.eval.n_episodes,
videos_dir=cfg.output_dir / "eval" / f"videos_step_{step_id}",
max_episodes_rendered=4,
start_seed=cfg.seed,
)
eval_metrics = {
"avg_sum_reward": AverageMeter("∑rwrd", ":.3f"),