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add note about ft_denoising_steps in eval in README

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allenzren 2025-02-04 11:50:53 -05:00 committed by Allen Z. Ren
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README.md
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@ -138,14 +138,14 @@ See [here](cfg/finetuning.md) for details of the experiments in the paper.
* Videos of trials in Robomimic tasks can be recorded by specifying `env.save_video=True`, `train.render.freq=<iterations>`, and `train.render.num=<num_video>` in fine-tuning configs.
## Usage - Evaluation
Pre-trained or fine-tuned policies can be evaluated without running the fine-tuning script now. Some example configs are provided under `cfg/{gym/robomimic/furniture}/eval}` including ones below. `ft_denoising_steps` needs to match fine-tuning config. Set `base_policy_path` to override the default checkpoint.
Pre-trained or fine-tuned policies can be evaluated without running the fine-tuning script now. Some example configs are provided under `cfg/{gym/robomimic/furniture}/eval}` including ones below. Set `base_policy_path` to override the default checkpoint, and `ft_denoising_steps` needs to match fine-tuning config (otherwise assumes `ft_denoising_steps=0`, which means evaluating the pre-trained policy).
```console
python script/run.py --config-name=eval_diffusion_mlp \
--config-dir=cfg/gym/eval/hopper-v2
--config-dir=cfg/gym/eval/hopper-v2 ft_denoising_steps=?
python script/run.py --config-name=eval_{diffusion/gaussian}_mlp_{?img} \
--config-dir=cfg/robomimic/eval/can
--config-dir=cfg/robomimic/eval/can ft_denoising_steps=?
python script/run.py --config-name=eval_diffusion_mlp \
--config-dir=cfg/furniture/eval/one_leg_low
--config-dir=cfg/furniture/eval/one_leg_low ft_denoising_steps=?
```
## DPPO implementation