diff --git a/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml b/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml index 945a8d1..5a25ea0 100644 --- a/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml +++ b/cfg/d3il/eval/avoid_m1/eval_diffusion_mlp.yaml @@ -19,7 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 25 render_num: 40 @@ -48,7 +48,7 @@ env: reset_within_step: False model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml b/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml index acca7c9..1fb9f4d 100644 --- a/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml +++ b/cfg/furniture/eval/lamp_low/eval_diffusion_mlp.yaml @@ -21,7 +21,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -42,7 +42,7 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml b/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml index d001ecf..588f628 100644 --- a/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml +++ b/cfg/furniture/eval/lamp_low/eval_diffusion_unet.yaml @@ -21,7 +21,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -42,7 +42,7 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml b/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml index e5fa3ac..ca02796 100644 --- a/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml +++ b/cfg/furniture/eval/one_leg_low/eval_diffusion_mlp.yaml @@ -21,7 +21,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -42,7 +42,7 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml b/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml index ef0046b..6358719 100644 --- a/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml +++ b/cfg/furniture/eval/one_leg_low/eval_diffusion_unet.yaml @@ -21,7 +21,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -42,7 +42,7 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml b/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml index 21c9c61..71999f3 100644 --- a/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml +++ b/cfg/furniture/eval/round_table_low/eval_diffusion_mlp.yaml @@ -21,7 +21,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -42,7 +42,7 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml b/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml index 3dc8e45..a51a17c 100644 --- a/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml +++ b/cfg/furniture/eval/round_table_low/eval_diffusion_unet.yaml @@ -21,7 +21,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: ${eval:'round(${env.max_episode_steps} / ${act_steps})'} render_num: 0 @@ -42,7 +42,7 @@ env: sparse_reward: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml b/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml index 9da5d6e..64fb556 100644 --- a/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/halfcheetah-v2/eval_diffusion_mlp.yaml @@ -19,7 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 250 # each episode can take maximum (max_episode_steps / act_steps, =250 right now) steps but may finish earlier in gym. We only count episodes finished within n_steps for evaluation. render_num: 0 @@ -41,7 +41,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml b/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml index dcc7f9f..473e578 100644 --- a/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/hopper-v2/eval_diffusion_mlp.yaml @@ -19,7 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 250 # each episode can take maximum (max_episode_steps / act_steps, =250 right now) steps but may finish earlier in gym. We only count episodes finished within n_steps for evaluation. render_num: 0 @@ -41,7 +41,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml b/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml index 1f83839..5218e2e 100644 --- a/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml @@ -19,7 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 70 render_num: 0 @@ -41,7 +41,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml b/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml index 26eede9..7e4456c 100644 --- a/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml +++ b/cfg/gym/eval/walker2d-v2/eval_diffusion_mlp.yaml @@ -19,7 +19,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 250 # each episode can take maximum (max_episode_steps / act_steps, =250 right now) steps but may finish earlier in gym. We only count episodes finished within n_steps for evaluation. render_num: 0 @@ -41,7 +41,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml index 1bbb789..6dbc371 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_mlp.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -45,7 +45,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml index ebd8979..cbe82d6 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_mlp_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -59,7 +59,7 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/can/eval_diffusion_unet.yaml b/cfg/robomimic/eval/can/eval_diffusion_unet.yaml index faa59cd..767ca26 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_unet.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 75 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -45,7 +45,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml index 4bc3f30..81302a5 100644 --- a/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/can/eval_diffusion_unet_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -59,7 +59,7 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml index 6c9804b..0258706 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -45,7 +45,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml index 95bae04..4558c2c 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -59,7 +59,7 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml b/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml index 63c729f..7055f5d 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_unet.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 75 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -45,7 +45,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml index 7628e92..c174522 100644 --- a/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 300 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -59,7 +59,7 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml index 3fe3b54..4e77744 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_mlp.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -45,7 +45,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml index f20620a..c747abf 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_mlp_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -59,7 +59,7 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/square/eval_diffusion_unet.yaml b/cfg/robomimic/eval/square/eval_diffusion_unet.yaml index 1e07042..b419f37 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_unet.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 4 act_steps: 4 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 100 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -45,7 +45,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml index db74d97..ea2c5a2 100644 --- a/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/square/eval_diffusion_unet_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 4 act_steps: 4 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -59,7 +59,7 @@ shape_meta: shape: [7] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml b/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml index cd15d1d..c43aa7a 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_mlp.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 8 act_steps: 8 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -48,7 +48,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml b/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml index d585b3c..2c2e13b 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_mlp_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 8 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 200 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -63,7 +63,7 @@ shape_meta: shape: [14] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml b/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml index 4ee0c42..1df31aa 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_unet.yaml @@ -20,7 +20,7 @@ denoising_steps: 20 cond_steps: 1 horizon_steps: 16 act_steps: 8 -ft_denoising_steps: 10 +ft_denoising_steps: 0 n_steps: 100 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -48,7 +48,7 @@ env: reset_within_step: True model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml b/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml index 3c1b1f9..a100f02 100644 --- a/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml +++ b/cfg/robomimic/eval/transport/eval_diffusion_unet_img.yaml @@ -23,7 +23,7 @@ horizon_steps: 16 act_steps: 8 use_ddim: True ddim_steps: 5 -ft_denoising_steps: 5 +ft_denoising_steps: 0 n_steps: 400 # each episode takes max_episode_steps / act_steps steps render_num: 0 @@ -63,7 +63,7 @@ shape_meta: shape: [14] model: - _target_: model.diffusion.diffusion_eval_ft.DiffusionEvalFT + _target_: model.diffusion.diffusion_eval_ft.DiffusionEval ft_denoising_steps: ${ft_denoising_steps} predict_epsilon: True denoised_clip_value: 1.0 diff --git a/model/diffusion/diffusion_eval.py b/model/diffusion/diffusion_eval.py index f4bd3fe..3f9c2a6 100644 --- a/model/diffusion/diffusion_eval.py +++ b/model/diffusion/diffusion_eval.py @@ -20,8 +20,8 @@ class DiffusionEval(DiffusionModel): def __init__( self, network_path, + ft_denoising_steps, # if running pre-trained model (not fine-tuned), set it to zero; if running fine-tuned model, need to specify the correct number of denoising steps fine-tuned, so that here it knows which model (base or ft) to use for each denoising step use_ddim=False, - ft_denoising_steps=0, # if running fine-tuned model, need to specify the correct number of denoising steps fine-tuned, so that here it knows which model (base or ft) to use for each denoising step **kwargs, ): # do not let base class load model