From 169a16dda7c79928b252beebf9ab3c26fb473a0b Mon Sep 17 00:00:00 2001 From: allenzren Date: Fri, 3 Jan 2025 17:22:38 -0500 Subject: [PATCH] update eval configs --- cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml | 4 +++- cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml | 4 +++- cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml | 4 +++- cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml | 4 +++- cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml | 4 +++- cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml | 4 +++- cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml | 4 +++- cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml | 4 +++- cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml | 4 +++- cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml | 4 +++- cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml | 4 +++- cfg/robomimic/eval/can/eval_diffusion_mlp.yaml | 4 +++- cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml | 4 +++- cfg/robomimic/eval/can/eval_diffusion_unet.yaml | 4 +++- cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml | 4 +++- cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml | 4 +++- cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml | 4 +++- cfg/robomimic/eval/lift/eval_diffusion_unet.yaml | 4 +++- cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml | 4 +++- cfg/robomimic/eval/square/eval_diffusion_mlp.yaml | 4 +++- cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml | 4 +++- cfg/robomimic/eval/square/eval_diffusion_unet.yaml | 4 +++- cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml | 4 +++- cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml | 5 +++-- cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml | 4 +++- cfg/robomimic/eval/transport/eval_diffusion_unet.yaml | 4 +++- cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml | 4 +++- 27 files changed, 81 insertions(+), 28 deletions(-) diff --git a/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml b/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml index e3d0653..945a8d1 100644 --- a/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml +++ b/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml @@ -19,6 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 25 render_num: 40 @@ -47,7 +48,8 @@ env: reset_within_step: False model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 # diff --git a/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml b/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml index ea712a7..acca7c9 100644 --- a/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml +++ b/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml @@ -21,6 +21,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -41,7 +42,8 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml b/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml index 6de459a..d001ecf 100644 --- a/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml +++ b/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml @@ -21,6 +21,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -41,7 +42,8 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml b/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml index 3694c70..e5fa3ac 100644 --- a/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml +++ b/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml @@ -21,6 +21,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -41,7 +42,8 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml b/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml index c1626d9..ef0046b 100644 --- a/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml +++ b/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml @@ -21,6 +21,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -41,7 +42,8 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml b/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml index 9109faf..21c9c61 100644 --- a/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml +++ b/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml @@ -21,6 +21,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -41,7 +42,8 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml b/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml index daf050e..3dc8e45 100644 --- a/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml +++ b/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml @@ -21,6 +21,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -41,7 +42,8 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml b/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml index b8e0404..9da5d6e 100644 --- a/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml @@ -19,6 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 250 # each episode can take maximum (max_episode_steps / act_steps, =250 right now) steps but may finish earlier in gym. We only count episodes finished within n_steps for evaluation. render_num: 0 @@ -40,7 +41,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 # diff --git a/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml b/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml index 4c0fcac..dcc7f9f 100644 --- a/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml @@ -19,6 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 250 # each episode can take maximum (max_episode_steps / act_steps, =250 right now) steps but may finish earlier in gym. We only count episodes finished within n_steps for evaluation. render_num: 0 @@ -40,7 +41,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 # diff --git a/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml b/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml index f74e0fc..1f83839 100644 --- a/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml @@ -19,6 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 70 render_num: 0 @@ -40,7 +41,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 # diff --git a/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml b/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml index 1b1d2b0..26eede9 100644 --- a/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml @@ -19,6 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 250 # each episode can take maximum (max_episode_steps / act_steps, =250 right now) steps but may finish earlier in gym. We only count episodes finished within n_steps for evaluation. render_num: 0 @@ -40,7 +41,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 # diff --git a/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml index d19359e..1bbb789 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -44,7 +45,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml index 55db305..ebd8979 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -58,7 +59,8 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/can/eval_diffusion_unet.yaml b/cfg/robomimic/eval/can/eval_diffusion_unet.yaml index 2d1ac3b..faa59cd 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_unet.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 75 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -44,7 +45,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml index 3b8f643..4bc3f30 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -58,7 +59,8 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml index 6a0aa81..6c9804b 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -44,7 +45,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml index bf8c232..95bae04 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -58,7 +59,8 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml b/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml index 800354c..63c729f 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 75 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -44,7 +45,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml index 35c567b..7628e92 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -58,7 +59,8 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml index 1009edc..3fe3b54 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -44,7 +45,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml index 624a1b3..f20620a 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -58,7 +59,8 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/square/eval_diffusion_unet.yaml b/cfg/robomimic/eval/square/eval_diffusion_unet.yaml index 7280703..1e07042 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_unet.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 +ft_denoising_steps: 10 n_steps: 100 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -44,7 +45,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml index d35d975..db74d97 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -58,7 +59,8 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml index 23826aa..cd15d1d 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 8 act_steps: 8 +ft_denoising_steps: 10 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -46,9 +47,9 @@ env: max_episode_steps: ${env.max_episode_steps} reset_within_step: True - model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml index 7413246..d585b3c 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 200 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -62,7 +63,8 @@ shape_meta: shape: [14] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml b/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml index e644bfc..4ee0c42 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml @@ -20,6 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 16 act_steps: 8 +ft_denoising_steps: 10 n_steps: 100 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -47,7 +48,8 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml index 81b0046..3c1b1f9 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml @@ -23,6 +23,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 +ft_denoising_steps: 5 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -62,7 +63,8 @@ shape_meta: shape: [14] model: - _target_: model.diffusion.diffusion.DiffusionModel + _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 randn_clip_value: 3