wehub-resource-sync
67 lines
2.1 KiB
Python
67 lines
2.1 KiB
Python
import torch
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from lerobot.datasets import LeRobotDataset
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from lerobot.rewards import RewardClassifierConfig, make_reward_model, make_reward_pre_post_processors
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def main():
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# Device to use for training
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device = "mps" # or "cuda", or "cpu"
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# Load the dataset used for training
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repo_id = "lerobot/example_hil_serl_dataset"
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dataset = LeRobotDataset(repo_id)
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# Configure the policy to extract features from the image frames
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camera_keys = dataset.meta.camera_keys
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config = RewardClassifierConfig(
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num_cameras=len(camera_keys),
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device=device,
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# backbone model to extract features from the image frames
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model_name="microsoft/resnet-18",
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)
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# Make reward model, preprocessor, and optimizer
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reward_model = make_reward_model(config, dataset_stats=dataset.meta.stats)
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optimizer = config.get_optimizer_preset().build(reward_model.parameters())
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preprocessor, _ = make_reward_pre_post_processors(config, dataset_stats=dataset.meta.stats)
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classifier_id = "<user>/reward_classifier_hil_serl_example"
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# Instantiate a dataloader
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dataloader = torch.utils.data.DataLoader(dataset, batch_size=16, shuffle=True)
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# Training loop
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num_epochs = 5
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for epoch in range(num_epochs):
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total_loss = 0
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total_accuracy = 0
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for batch in dataloader:
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# Preprocess the batch and move it to the correct device.
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batch = preprocessor(batch)
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# Forward pass
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loss, output_dict = reward_model.forward(batch)
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# Backward pass and optimization
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optimizer.zero_grad()
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loss.backward()
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optimizer.step()
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total_loss += loss.item()
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total_accuracy += output_dict["accuracy"]
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avg_loss = total_loss / len(dataloader)
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avg_accuracy = total_accuracy / len(dataloader)
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print(f"Epoch {epoch + 1}/{num_epochs}, Loss: {avg_loss:.4f}, Accuracy: {avg_accuracy:.2f}%")
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print("Training finished!")
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# You can now save the trained reward model.
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reward_model.push_to_hub(classifier_id)
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if __name__ == "__main__":
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main()
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