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remove update_ema_freq

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This commit is contained in:
allenzren 2024-11-06 21:01:15 -05:00
parent e1ef4ca1cf
commit c0921a1fb5
82 changed files with 2 additions and 84 deletions
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1
agent/pretrain/train_agent.py
View File

@ -83,7 +83,6 @@ class PreTrainAgent:
# Training params
self.n_epochs = cfg.train.n_epochs
self.batch_size = cfg.train.batch_size
self.update_ema_freq = cfg.train.update_ema_freq
self.epoch_start_ema = cfg.train.epoch_start_ema
self.val_freq = cfg.train.get("val_freq", 100)

3
agent/pretrain/train_diffusion_agent.py
View File

@ -38,8 +38,7 @@ class TrainDiffusionAgent(PreTrainAgent):
self.optimizer.zero_grad()
# update ema
if self.epoch % self.update_ema_freq == 0:
self.step_ema()
self.step_ema()
loss_train = np.mean(loss_train_epoch)
# validate

3
agent/pretrain/train_gaussian_agent.py
View File

@ -46,8 +46,7 @@ class TrainGaussianAgent(PreTrainAgent):
self.optimizer.zero_grad()
# update ema
if self.epoch % self.update_ema_freq == 0:
self.step_ema()
self.step_ema()
loss_train = np.mean(loss_train_epoch)
ent_train = np.mean(ent_train_epoch)

1
cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml
View File

@ -35,7 +35,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml
View File

@ -34,7 +34,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:

1
cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:

1
cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:

1
cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:

1
cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:

1
cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:

1
cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml
View File

@ -43,7 +43,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml
View File

@ -42,7 +42,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml
View File

@ -43,7 +43,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml
View File

@ -42,7 +42,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml
View File

@ -43,7 +43,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml
View File

@ -42,7 +42,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml
View File

@ -43,7 +43,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml
View File

@ -42,7 +42,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml
View File

@ -32,7 +32,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:

1
cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml
View File

@ -33,7 +33,6 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model: