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pi rollout #128

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21 changes: 21 additions & 0 deletions egomimic/robot/checkpoint_test.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
import torch, pprint

def summarize(path):
ckpt = torch.load(path, map_location="cpu")
print("\n===", path, "===")
print("top-level keys:", sorted(ckpt.keys()))
print("pl version:", ckpt.get("pytorch-lightning_version") or ckpt.get("lightning_version"))
hp = ckpt.get("hyper_parameters", {})
print("hyper_parameters keys count:", len(hp))
print("has robomimic_model in hyper_parameters?:", "robomimic_model" in hp)
# show likely constructor-related keys
print("hp_keys:", sorted(hp.keys()))
interesting = [k for k in hp.keys() if any(s in k.lower() for s in ["model", "policy", "config", "algo", "robomimic"])]
print("interesting hparams keys:", sorted(interesting)[:50])
# optional: show hparams content types
for k in sorted(interesting)[:20]:
v = hp[k]
print(f" {k}: {type(v)}")

summarize("/home/robot/robot_ws/egomimic/robot/models/hpt_objcont_bc/0/checkpoints/epoch_epoch=1599.ckpt")
summarize("/home/robot/robot_ws/egomimic/robot/models/pi_eva_objcon_full_folder/0/checkpoints/epoch_epoch=399.ckpt")
2 changes: 1 addition & 1 deletion egomimic/robot/data_visualization.ipynb
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Expand Up @@ -21,7 +21,7 @@
"import numpy as np\n",
"import matplotlib.pyplot as plt\n",
"\n",
"h5_path = \"/home/robot/robot_ws/egomimic/robot/demos/demo_1.hdf5\" # <- change this\n",
"h5_path = \"/home/robot/robot_ws/egomimic/robot/demo/fold_clothes_ood/demo_5.hdf5\" # <- change this\n",
"\n",
"with h5py.File(h5_path, \"r\") as f:\n",
" # 1) load action\n",
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16 changes: 15 additions & 1 deletion egomimic/robot/eva/eva.md
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Expand Up @@ -61,6 +61,16 @@ From the repo root (or wherever `run_eva_docker.sh` lives):
./run_eva_docker.sh {left | right | both}
```

If the script errors with "could not select device driver", then run the following commands on a host shell

```bash
sudo apt-get update
sudo apt-get install -y nvidia-container-toolkit

sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker
```

Once the container appears in Cursor / VS Code, attach a terminal to it and run:

```bash
Expand Down Expand Up @@ -202,4 +212,8 @@ After you are done collecting data:

```bash
python3 eva_uploader.py
```
```

## ROLLOUTS

Note: Do not use env python
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