From c0921a1fb5cb8f8559a5e5ba3ca87eacaa19f390 Mon Sep 17 00:00:00 2001 From: allenzren Date: Wed, 6 Nov 2024 21:01:15 -0500 Subject: [PATCH] remove `update_ema_freq` --- agent/pretrain/train_agent.py | 1 - agent/pretrain/train_diffusion_agent.py | 3 +-- agent/pretrain/train_gaussian_agent.py | 3 +-- cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml | 1 - cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml | 1 - cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml | 1 - cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml | 1 - cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml | 1 - cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml | 1 - cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml | 1 - cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml | 1 - cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml | 1 - cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml | 1 - cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml | 1 - cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml | 1 - cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml | 1 - 82 files changed, 2 insertions(+), 84 deletions(-) diff --git a/agent/pretrain/train_agent.py b/agent/pretrain/train_agent.py index a1a358a..2befdbd 100644 --- a/agent/pretrain/train_agent.py +++ b/agent/pretrain/train_agent.py @@ -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) diff --git a/agent/pretrain/train_diffusion_agent.py b/agent/pretrain/train_diffusion_agent.py index 44ed7fe..043f03c 100644 --- a/agent/pretrain/train_diffusion_agent.py +++ b/agent/pretrain/train_diffusion_agent.py @@ -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 diff --git a/agent/pretrain/train_gaussian_agent.py b/agent/pretrain/train_gaussian_agent.py index f02b03e..b2c46c6 100644 --- a/agent/pretrain/train_gaussian_agent.py +++ b/agent/pretrain/train_gaussian_agent.py @@ -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) diff --git a/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml b/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml index d3148f7..755ad46 100644 --- a/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml b/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml index ae26e2b..8ecc7df 100644 --- a/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml b/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml index 16d9106..9cd5002 100644 --- a/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml b/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml index e49c7ec..21d0263 100644 --- a/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml b/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml index dfbe78b..54974aa 100644 --- a/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml b/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml index 2dc8999..5bd38e1 100644 --- a/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml b/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml index c160859..502eb80 100644 --- a/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml b/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml index cd0c24a..73fdca3 100644 --- a/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml b/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml index 82f8c35..2c6cc4e 100644 --- a/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml +++ b/cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml index 706e099..310f3df 100644 --- a/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml index 1f09f63..5eb8864 100644 --- a/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml index 5cb32db..c8f9cd0 100644 --- a/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml index cedcc60..7d76283 100644 --- a/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml index 1b30fdb..533fbc1 100644 --- a/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml index 26361cf..9dcd7f2 100644 --- a/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml index 40c5e77..ec92eb6 100644 --- a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml index 672f59f..13d2464 100644 --- a/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml index 6ce994e..1567598 100644 --- a/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml index 18786c6..5730d11 100644 --- a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml index 1d90175..477f0fa 100644 --- a/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml index ce0066a..5df0a96 100644 --- a/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml index 7a56d78..f03081f 100644 --- a/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml index 32f2127..2e38455 100644 --- a/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml index 46b1c39..726d1a9 100644 --- a/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml b/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml index 074f9ea..a504d5c 100644 --- a/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml b/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml index 73da6cc..fc08814 100644 --- a/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml +++ b/cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml b/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml index a29708c..a6952bc 100644 --- a/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml +++ b/cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml index d17ccad..a6499d6 100644 --- a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml index 2af034e..724d92d 100644 --- a/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml index 5dc8f75..b1454e9 100644 --- a/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml index 3ec109b..d87c51c 100644 --- a/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml index b0f6a85..19f04a6 100644 --- a/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml index a8f72d2..5982d0e 100644 --- a/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml index 677143d..536c952 100644 --- a/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml index d0a64e9..07f5270 100644 --- a/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml index 95e7d16..9baa438 100644 --- a/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml index 0796ff3..4f55906 100644 --- a/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml b/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml index 4ed8dd8..8cba227 100644 --- a/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml +++ b/cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml b/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml index 346d068..c95b952 100644 --- a/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml +++ b/cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml index 038182d..9b99806 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml index b09e0ee..f844a61 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml index fb5a9cb..4d42dc1 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml index 1fb3656..8ccb090 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml index 8284135..fc7731c 100644 --- a/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml index 9840bad..b644858 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml index 272c173..474e5c5 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml index 3f5cdf5..8d5f208 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml index 88d330e..968d81e 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml index 9a737db..4481d6d 100644 --- a/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml index 8716bf6..e2b1371 100644 --- a/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml index a5e3524..4259b83 100644 --- a/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml index 1555fa5..c6f1c39 100644 --- a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml index 3f5ddc5..08eff77 100644 --- a/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml index 07a7ff1..2b074d0 100644 --- a/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml index 58285a7..b3c1cec 100644 --- a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml index a3de5f3..4b0f7f1 100644 --- a/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml index 4067a53..f96c760 100644 --- a/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml index 0434a78..52c995e 100644 --- a/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml index 7bee492..0d4c2c5 100644 --- a/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml index 2e15072..47df8e6 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml index c81ba12..365047b 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml index 9da7f6e..591d677 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml index de9c232..14cfd0c 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml index 6811bab..c8b43f7 100644 --- a/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml index 19852a9..bad7e43 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml index 992bb99..f35d38a 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml index 8728178..9f3ae7a 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml index e44b09c..d44d118 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml index 320637f..d05c405 100644 --- a/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml index 95c9273..48642b1 100644 --- a/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml index 61253fc..b7ca9e7 100644 --- a/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml index 053797d..df8df66 100644 --- a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml +++ b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml index c9d30ed..e9a9398 100644 --- a/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml +++ b/cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml b/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml index 71bd096..f77ff9a 100644 --- a/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml +++ b/cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml index 3d88907..cf221b1 100644 --- a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml index 5d66544..316b45b 100644 --- a/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml b/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml index 7c81253..5743fd9 100644 --- a/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml b/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml index 9879fee..4eb9be7 100644 --- a/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml @@ -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: diff --git a/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml b/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml index c2a0ebe..f543e19 100644 --- a/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml +++ b/cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml @@ -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: