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v0.7 (#26)

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* 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
This commit is contained in:
Allen Z. Ren
2024-11-20 15:56:23 -05:00
committed by allenzren
parent d2929f65e1
commit 1d04211666
158 changed files with 3350 additions and 410 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cfg/gym/scratch/halfcheetah-v2/ppo_diffusion_mlp.yaml
+6 -6
View File
@@ -1,7 +1,7 @@
defaults:
- _self_
hydra:
run:
run:
dir: ${logdir}
_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
@@ -42,7 +42,7 @@ wandb:
run: ${now:%H-%M-%S}_${name}
train:
n_train_itr: 1000
n_train_itr: 501
n_critic_warmup_itr: 0
n_steps: 1000
gamma: 0.99
@@ -55,7 +55,7 @@ train:
critic_lr: 1e-3
critic_weight_decay: 0
critic_lr_scheduler:
first_cycle_steps: 10000
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-3
save_model_freq: 100
@@ -67,7 +67,7 @@ train:
reward_scale_running: True
reward_scale_const: 1.0
gae_lambda: 0.95
batch_size: 10000
batch_size: 5000
update_epochs: 10
vf_coef: 0.5
target_kl: 1
@@ -75,7 +75,7 @@ train:
model:
_target_: model.diffusion.diffusion_ppo.PPODiffusion
# HP to tune
gamma_denoising: 0.99
gamma_denoising: 1
clip_ploss_coef: 0.1
clip_ploss_coef_base: 0.1
clip_ploss_coef_rate: 3
@@ -94,10 +94,10 @@ model:
residual_style: True
critic:
_target_: model.common.critic.CriticObs
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
ft_denoising_steps: ${ft_denoising_steps}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
cfg/gym/scratch/halfcheetah-v2/ppo_gaussian_mlp.yaml
+2 -2
View File
@@ -40,7 +40,7 @@ wandb:
run: ${now:%H-%M-%S}_${name}
train:
n_train_itr: 1000
n_train_itr: 501
n_critic_warmup_itr: 0
n_steps: 1000
gamma: 0.99
@@ -65,7 +65,7 @@ train:
reward_scale_running: True
reward_scale_const: 1.0
gae_lambda: 0.95
batch_size: 1000
batch_size: 500
update_epochs: 10
vf_coef: 0.5
target_kl: 1
cfg/gym/scratch/hopper-v2/ppo_diffusion_mlp.yaml
+3 -3
View File
@@ -42,7 +42,7 @@ wandb:
run: ${now:%H-%M-%S}_${name}
train:
n_train_itr: 1000
n_train_itr: 301
n_critic_warmup_itr: 0
n_steps: 1000
gamma: 0.99
@@ -67,7 +67,7 @@ train:
reward_scale_running: True
reward_scale_const: 1.0
gae_lambda: 0.95
batch_size: 10000
batch_size: 5000
update_epochs: 10
vf_coef: 0.5
target_kl: 1
@@ -75,7 +75,7 @@ train:
model:
_target_: model.diffusion.diffusion_ppo.PPODiffusion
# HP to tune
gamma_denoising: 0.99
gamma_denoising: 1
clip_ploss_coef: 0.1
clip_ploss_coef_base: 0.1
clip_ploss_coef_rate: 3
cfg/gym/scratch/hopper-v2/ppo_gaussian_mlp.yaml
+2 -2
View File
@@ -40,7 +40,7 @@ wandb:
run: ${now:%H-%M-%S}_${name}
train:
n_train_itr: 1000
n_train_itr: 301
n_critic_warmup_itr: 0
n_steps: 1000
gamma: 0.99
@@ -65,7 +65,7 @@ train:
reward_scale_running: True
reward_scale_const: 1.0
gae_lambda: 0.95
batch_size: 1000
batch_size: 500
update_epochs: 10
vf_coef: 0.5
target_kl: 1
cfg/gym/scratch/walker2d-v2/ppo_diffusion_mlp.yaml
+5 -5
View File
@@ -42,7 +42,7 @@ wandb:
run: ${now:%H-%M-%S}_${name}
train:
n_train_itr: 1000
n_train_itr: 501
n_critic_warmup_itr: 0
n_steps: 1000
gamma: 0.99
@@ -55,7 +55,7 @@ train:
critic_lr: 1e-3
critic_weight_decay: 0
critic_lr_scheduler:
first_cycle_steps: 10000
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-3
save_model_freq: 100
@@ -67,7 +67,7 @@ train:
reward_scale_running: True
reward_scale_const: 1.0
gae_lambda: 0.95
batch_size: 10000
batch_size: 5000
update_epochs: 10
vf_coef: 0.5
target_kl: 1
@@ -75,7 +75,7 @@ train:
model:
_target_: model.diffusion.diffusion_ppo.PPODiffusion
# HP to tune
gamma_denoising: 0.99
gamma_denoising: 1
clip_ploss_coef: 0.1
clip_ploss_coef_base: 0.1
clip_ploss_coef_rate: 3
@@ -94,10 +94,10 @@ model:
residual_style: True
critic:
_target_: model.common.critic.CriticObs
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
ft_denoising_steps: ${ft_denoising_steps}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
cfg/gym/scratch/walker2d-v2/ppo_gaussian_mlp.yaml
+2 -2
View File
@@ -40,7 +40,7 @@ wandb:
run: ${now:%H-%M-%S}_${name}
train:
n_train_itr: 1000
n_train_itr: 301
n_critic_warmup_itr: 0
n_steps: 1000
gamma: 0.99
@@ -65,7 +65,7 @@ train:
reward_scale_running: True
reward_scale_const: 1.0
gae_lambda: 0.95
batch_size: 1000
batch_size: 500
update_epochs: 10
vf_coef: 0.5
target_kl: 1