v0.7 (#26)

* update from scratch configs

* update gym pretraining configs - use fewer epochs

* update robomimic pretraining configs - use fewer epochs

* allow trajectory plotting in eval agent

* add simple vit unet

* update avoid pretraining configs - use fewer epochs

* update furniture pretraining configs - use same amount of epochs as before

* add robomimic diffusion unet pretraining configs

* update robomimic finetuning configs - higher lr

* add vit unet checkpoint urls

* update pretraining and finetuning instructions as configs are updated

cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml

@@ -31,7 +31,7 @@ train:
   learning_rate: 1e-4
   weight_decay: 1e-6
   lr_scheduler:
-    first_cycle_steps: 10000
+    first_cycle_steps: 8000
     warmup_steps: 100
     min_lr: 1e-5
   save_model_freq: 500

cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml

@@ -31,7 +31,7 @@ train:
   learning_rate: 1e-4
   weight_decay: 1e-6
   lr_scheduler:
-    first_cycle_steps: 10000
+    first_cycle_steps: 8000
     warmup_steps: 100
     min_lr: 1e-5
   save_model_freq: 500

cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml

@@ -30,7 +30,7 @@ train:
   learning_rate: 1e-4
   weight_decay: 1e-6
   lr_scheduler:
-    first_cycle_steps: 10000
+    first_cycle_steps: 3000
     warmup_steps: 100
     min_lr: 1e-5
   save_model_freq: 500