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change default ft_denoising_steps in eval configs to 0 (assume evaluating pre-trained models)

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allenzren
2025-02-04 11:51:47 -05:00
committed by Allen Z. Ren
parent fc42865c77
commit 9032d02eae
28 changed files with 55 additions and 55 deletions
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cfg/robomimic/eval/lift/eval_diffusion_mlp.yaml
+2 -2
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@@ -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
cfg/robomimic/eval/lift/eval_diffusion_mlp_img.yaml
+2 -2
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@@ -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
cfg/robomimic/eval/lift/eval_diffusion_unet.yaml
+2 -2
View File
@@ -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
cfg/robomimic/eval/lift/eval_diffusion_unet_img.yaml
+2 -2
View File
@@ -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