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allenzren
2024-09-11 21:09:17 -04:00
parent 8ce0aa1485
commit 2ddf63b8f5
200 changed files with 1240 additions and 1186 deletions
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cfg/robomimic/finetune/lift/ft_awr_diffusion_mlp.yaml
+1 -2
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@@ -94,13 +94,12 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_dipo_diffusion_mlp.yaml
+1 -2
View File
@@ -95,13 +95,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_dql_diffusion_mlp.yaml
+1 -2
View File
@@ -94,13 +94,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_idql_diffusion_mlp.yaml
+2 -3
View File
@@ -97,19 +97,18 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
critic_v:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -100,15 +100,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_diffusion_mlp_img.yaml
+6 -3
View File
@@ -20,6 +20,7 @@ transition_dim: ${action_dim}
denoising_steps: 100
ft_denoising_steps: 5
cond_steps: 1
img_cond_steps: 1
horizon_steps: 4
act_steps: 4
use_ddim: True
@@ -121,6 +122,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -133,6 +135,7 @@ model:
time_dim: 32
mlp_dims: [512, 512, 512]
residual_style: True
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -143,6 +146,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -150,15 +154,14 @@ model:
num_heads: 4
embed_style: embed2
embed_norm: 0
obs_dim: ${obs_dim}
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -103,15 +103,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -94,10 +94,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_gaussian_mlp_img.yaml
+6 -2
View File
@@ -18,6 +18,7 @@ obs_dim: 9
action_dim: 7
transition_dim: ${action_dim}
cond_steps: 1
img_cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -100,6 +101,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -115,6 +117,7 @@ model:
learn_fixed_std: True
std_min: 0.01
std_max: 0.2
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -125,6 +128,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -132,10 +136,10 @@ model:
num_heads: 4
embed_style: embed2
embed_norm: 0
obs_dim: ${obs_dim}
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_gaussian_transformer.yaml
+1 -2
View File
@@ -95,10 +95,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_gmm_mlp.yaml
+1 -2
View File
@@ -95,10 +95,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_gmm_transformer.yaml
+1 -2
View File
@@ -96,10 +96,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_qsm_diffusion_mlp.yaml
+1 -2
View File
@@ -95,13 +95,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_rwr_diffusion_mlp.yaml
-1
View File
@@ -86,6 +86,5 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}