From 0bdae945e9a910fcaba4a755eb5e87aeabfb62f0 Mon Sep 17 00:00:00 2001 From: allenzren Date: Thu, 7 Nov 2024 10:55:16 -0500 Subject: [PATCH] use default `epoch_start_ema=20` and `update_ema_freq=10` --- agent/pretrain/train_agent.py | 3 ++- agent/pretrain/train_diffusion_agent.py | 5 ++++- agent/pretrain/train_gaussian_agent.py | 5 ++++- cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml | 1 - .../pretrain/round_table_low/pre_diffusion_mlp.yaml | 1 - .../pretrain/round_table_low/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml | 1 - .../pretrain/round_table_med/pre_diffusion_mlp.yaml | 1 - .../pretrain/round_table_med/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml | 1 - .../pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml | 2 +- cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml | 1 - cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml | 1 - cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml | 1 - .../pretrain/transport/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml | 1 - 82 files changed, 11 insertions(+), 82 deletions(-) diff --git a/agent/pretrain/train_agent.py b/agent/pretrain/train_agent.py index 2befdbd..8434632 100644 --- a/agent/pretrain/train_agent.py +++ b/agent/pretrain/train_agent.py @@ -83,7 +83,8 @@ class PreTrainAgent: # Training params self.n_epochs = cfg.train.n_epochs self.batch_size = cfg.train.batch_size - self.epoch_start_ema = cfg.train.epoch_start_ema + self.epoch_start_ema = cfg.train.get("epoch_start_ema", 20) + self.update_ema_freq = cfg.train.get("update_ema_freq", 10) self.val_freq = cfg.train.get("val_freq", 100) # Logging, checkpoints diff --git a/agent/pretrain/train_diffusion_agent.py b/agent/pretrain/train_diffusion_agent.py index 043f03c..16d2af0 100644 --- a/agent/pretrain/train_diffusion_agent.py +++ b/agent/pretrain/train_diffusion_agent.py @@ -21,6 +21,7 @@ class TrainDiffusionAgent(PreTrainAgent): timer = Timer() self.epoch = 1 + cnt_batch = 0 for _ in range(self.n_epochs): # train @@ -38,7 +39,9 @@ class TrainDiffusionAgent(PreTrainAgent): self.optimizer.zero_grad() # update ema - self.step_ema() + if cnt_batch % self.update_ema_freq == 0: + self.step_ema() + cnt_batch += 1 loss_train = np.mean(loss_train_epoch) # validate diff --git a/agent/pretrain/train_gaussian_agent.py b/agent/pretrain/train_gaussian_agent.py index b2c46c6..d92ea41 100644 --- a/agent/pretrain/train_gaussian_agent.py +++ b/agent/pretrain/train_gaussian_agent.py @@ -24,6 +24,7 @@ class TrainGaussianAgent(PreTrainAgent): timer = Timer() self.epoch = 1 + cnt_batch = 0 for _ in range(self.n_epochs): # train @@ -46,7 +47,9 @@ class TrainGaussianAgent(PreTrainAgent): self.optimizer.zero_grad() # update ema - self.step_ema() + if cnt_batch % self.update_ema_freq == 0: + self.step_ema() + cnt_batch += 1 loss_train = np.mean(loss_train_epoch) ent_train = np.mean(ent_train_epoch) diff --git a/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml b/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml index 755ad46..d938219 100644 --- a/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 15000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml b/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml index 8ecc7df..cc9898d 100644 --- a/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml b/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml index 9cd5002..24c4fef 100644 --- a/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml b/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml index 21d0263..1d7479e 100644 --- a/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 15000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml b/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml index 54974aa..0828b4d 100644 --- a/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml b/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml index 5bd38e1..ae1af2a 100644 --- a/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml b/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml index 502eb80..4bdd65a 100644 --- a/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 15000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml b/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml index 73fdca3..b2aeaf7 100644 --- a/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml b/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml index 2c6cc4e..e860bc0 100644 --- a/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml index 310f3df..a9b4fa6 100644 --- a/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml index 5eb8864..bec9393 100644 --- a/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml index c8f9cd0..e07591d 100644 --- a/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml index 7d76283..d6fb48d 100644 --- a/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml index 533fbc1..4ed0a25 100644 --- a/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml index 9dcd7f2..61b3ac1 100644 --- a/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml index ec92eb6..6c733d7 100644 --- a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml index 13d2464..c2a44da 100644 --- a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml index 1567598..5175736 100644 --- a/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml index 5730d11..d06a3a7 100644 --- a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml index 477f0fa..8a31f26 100644 --- a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml index 5df0a96..e7b9e7d 100644 --- a/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml index f03081f..a49e1ce 100644 --- a/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml index 2e38455..4fd8cf0 100644 --- a/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml index 726d1a9..a2252e6 100644 --- a/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml index a504d5c..b81c31d 100644 --- a/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml index fc08814..cee0254 100644 --- a/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml @@ -34,7 +34,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml index a6952bc..c7d0e30 100644 --- a/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml @@ -33,7 +33,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml index a6499d6..4c368b0 100644 --- a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 3000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 100 model: diff --git a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml index 724d92d..53c74b5 100644 --- a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml @@ -31,7 +31,7 @@ train: first_cycle_steps: 1000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 + save_model_freq: 100 model: diff --git a/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml index b1454e9..01b0df8 100644 --- a/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 3000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 100 model: diff --git a/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml index d87c51c..c4d0fe3 100644 --- a/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 1000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 100 model: diff --git a/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml index 19f04a6..67b726c 100644 --- a/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 8000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml index 5982d0e..ff479d1 100644 --- a/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml index 536c952..959b405 100644 --- a/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 8000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml index 07f5270..e498113 100644 --- a/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml index 9baa438..affc770 100644 --- a/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 8000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml index 4f55906..be98366 100644 --- a/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml index 8cba227..6f32b0c 100644 --- a/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 3000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 100 model: diff --git a/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml index c95b952..99b2f8c 100644 --- a/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 3000 warmup_steps: 1 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 100 model: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml index 9b99806..1fa3ec6 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml index f844a61..e95eb28 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml @@ -42,7 +42,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml index 4d42dc1..3d47545 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml index 8ccb090..c9afe59 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml index fc7731c..c3cc4f3 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml index b644858..49fecb3 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml index 474e5c5..12c949d 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml index 8d5f208..1320863 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml @@ -41,7 +41,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml index 968d81e..a8911d3 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml index 4481d6d..e8fddc7 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml index e2b1371..78cf40d 100644 --- a/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml index 4259b83..e8057da 100644 --- a/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml index c6f1c39..a5715be 100644 --- a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml index 08eff77..5b96d97 100644 --- a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml @@ -42,7 +42,6 @@ train: first_cycle_steps: 8000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml index 2b074d0..fa56862 100644 --- a/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml index b3c1cec..5243803 100644 --- a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml index 4b0f7f1..c77508c 100644 --- a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml @@ -41,7 +41,6 @@ train: first_cycle_steps: 3000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml index f96c760..6263925 100644 --- a/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml index 52c995e..bf36bbb 100644 --- a/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml index 0d4c2c5..fbfa1c1 100644 --- a/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml index 47df8e6..effd320 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml index 365047b..e1f15ec 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml @@ -42,7 +42,6 @@ train: first_cycle_steps: 8000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml index 591d677..fdfd118 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml index 14cfd0c..ba7664d 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml index c8b43f7..96a2bba 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml index bad7e43..0b26d26 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml index f35d38a..7b118cf 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-4 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml index 9f3ae7a..c9cc2f3 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml @@ -41,7 +41,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml index d44d118..84fbbb4 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml index d05c405..c6ae3d1 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml index 48642b1..3c70528 100644 --- a/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml index b7ca9e7..3232db7 100644 --- a/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml index df8df66..9db3685 100644 --- a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml index e9a9398..befefd2 100644 --- a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml @@ -42,7 +42,6 @@ train: first_cycle_steps: 8000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml index f77ff9a..3b7bc4e 100644 --- a/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 10000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml index cf221b1..900cdc1 100644 --- a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml index 316b45b..040c383 100644 --- a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml @@ -41,7 +41,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml index 5743fd9..372bb2c 100644 --- a/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml @@ -31,7 +31,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml index 4eb9be7..ef5daf0 100644 --- a/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: diff --git a/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml index f543e19..cda80e7 100644 --- a/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml @@ -32,7 +32,6 @@ train: first_cycle_steps: 5000 warmup_steps: 100 min_lr: 1e-5 - epoch_start_ema: 20 save_model_freq: 500 model: