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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/pretrain/can/pre_diffusion_mlp.yaml
+1 -3
View File
@@ -46,15 +46,13 @@ model:
time_dim: 16
mlp_dims: [512, 512, 512]
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml
+5 -3
View File
@@ -18,6 +18,7 @@ transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 4
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -27,7 +28,7 @@ wandb:
shape_meta:
obs:
rgb:
shape: [3, 96, 96]
shape: [3, 96, 96] # not counting img_cond_steps
state:
shape: [9]
action:
@@ -55,6 +56,7 @@ 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
@@ -62,6 +64,7 @@ model:
num_heads: 4
embed_style: embed2
embed_norm: 0
img_cond_steps: ${img_cond_steps}
augment: True
spatial_emb: 128
time_dim: 32
@@ -73,9 +76,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
@@ -88,4 +89,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}
cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml
-2
View File
@@ -55,9 +55,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml
+4
View File
@@ -17,6 +17,7 @@ action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -52,6 +53,7 @@ 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
@@ -64,6 +66,7 @@ model:
mlp_dims: [512, 512, 512]
residual_style: True
fixed_std: 0.1
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -80,4 +83,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}
cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml
-2
View File
@@ -52,9 +52,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml
+5 -3
View File
@@ -18,6 +18,7 @@ transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 4
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -27,7 +28,7 @@ wandb:
shape_meta:
obs:
rgb:
shape: [3, 96, 96]
shape: [3, 96, 96] # not counting img_cond_steps
state:
shape: [9]
action:
@@ -55,6 +56,7 @@ 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
@@ -62,6 +64,7 @@ model:
num_heads: 4
embed_style: embed2
embed_norm: 0
img_cond_steps: ${img_cond_steps}
augment: True
spatial_emb: 128
time_dim: 32
@@ -73,9 +76,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
@@ -88,4 +89,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}
cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml
+1 -3
View File
@@ -51,13 +51,11 @@ model:
smaller_encoder: False
cond_predict_scale: True
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml
+4
View File
@@ -17,6 +17,7 @@ action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -52,6 +53,7 @@ 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
@@ -64,6 +66,7 @@ model:
mlp_dims: [512, 512, 512]
residual_style: True
fixed_std: 0.1
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -80,4 +83,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}
cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml
-2
View File
@@ -53,9 +53,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml
+5 -3
View File
@@ -18,6 +18,7 @@ transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 4
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -27,7 +28,7 @@ wandb:
shape_meta:
obs:
rgb:
shape: [3, 96, 96]
shape: [3, 96, 96] # not counting img_cond_steps
state:
shape: [9]
action:
@@ -55,6 +56,7 @@ 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
@@ -67,15 +69,14 @@ model:
time_dim: 32
mlp_dims: [768, 768, 768]
residual_style: True
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
@@ -88,4 +89,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}
cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml
-2
View File
@@ -55,9 +55,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml
+4
View File
@@ -17,6 +17,7 @@ action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -52,6 +53,7 @@ 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
@@ -64,6 +66,7 @@ model:
mlp_dims: [768, 768, 768]
residual_style: True
fixed_std: 0.1
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -80,4 +83,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}
cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml
-2
View File
@@ -52,9 +52,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml
+5 -3
View File
@@ -18,6 +18,7 @@ transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 8
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -27,7 +28,7 @@ wandb:
shape_meta:
obs:
rgb:
shape: [3, 96, 96]
shape: [3, 96, 96] # not counting img_cond_steps
state:
shape: [9]
action:
@@ -55,6 +56,7 @@ 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
@@ -68,15 +70,14 @@ model:
time_dim: 32
mlp_dims: [768, 768, 768]
residual_style: True
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
@@ -89,4 +90,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}
cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml
-2
View File
@@ -55,9 +55,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml
+5 -1
View File
@@ -17,6 +17,7 @@ action_dim: 14
transition_dim: ${action_dim}
horizon_steps: 8
cond_steps: 1
img_cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
@@ -26,7 +27,7 @@ wandb:
shape_meta:
obs:
rgb:
shape: [3, 96, 96]
shape: [3, 96, 96] # not counting img_cond_steps
state:
shape: [9]
action:
@@ -52,6 +53,7 @@ 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
@@ -65,6 +67,7 @@ model:
mlp_dims: [768, 768, 768]
residual_style: True
fixed_std: 0.1
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -81,4 +84,5 @@ train_dataset:
horizon_steps: ${horizon_steps}
max_n_episodes: 100
cond_steps: ${cond_steps}
img_cond_steps: ${img_cond_steps}
device: ${device}