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update eval configs

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allenzren
2025-02-04 11:51:47 -05:00
committed by Allen Z. Ren
parent ace2bbdab9
commit 169a16dda7
27 changed files with 81 additions and 28 deletions
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cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml
+3 -2
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@@ -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
cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml
+3 -1
View File
@@ -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
cfg/robomimic/eval/transport/eval_diffusion_unet.yaml
+3 -1
View File
@@ -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
cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml
+3 -1
View File
@@ -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