v0.6 (#18)

* Sampling over both env and denoising steps in DPPO updates (#13) * sample one from each chain * full random sampling * Add Proficient Human (PH) Configs and Pipeline (#16) * fix missing cfg * add ph config * fix how terminated flags are added to buffer in ibrl * add ph config * offline calql for 1M gradient updates * bug fix: number of calql online gradient steps is the number of new transitions collected * add sample config for DPPO with ta=1 * Sampling over both env and denoising steps in DPPO updates (#13) * sample one from each chain * full random sampling * fix diffusion loss when predicting initial noise * fix dppo inds * fix typo * remove print statement --------- Co-authored-by: Justin M. Lidard <jlidard@neuronic.cs.princeton.edu> Co-authored-by: allenzren <allen.ren@princeton.edu> * update robomimic configs * better calql formulation * optimize calql and ibrl training * optimize data transfer in ppo agents * add kitchen configs * re-organize config folders, rerun calql and rlpd * add scratch gym locomotion configs * add kitchen installation dependencies * use truncated for termination in furniture env * update furniture and gym configs * update README and dependencies with kitchen * add url for new data and checkpoints * update demo RL configs * update batch sizes for furniture unet configs * raise error about dropout in residual mlp * fix observation bug in bc loss --------- Co-authored-by: Justin Lidard <60638575+jlidard@users.noreply.github.com> Co-authored-by: Justin M. Lidard <jlidard@neuronic.cs.princeton.edu>
2024-10-30 19:58:06 -04:00
parent 7b10df690d
commit dc8e0c9edc
126 changed files with 4614 additions and 553 deletions
@@ -0,0 +1,61 @@
+defaults:
+  - _self_
+hydra:
+  run:  
+    dir: ${logdir}
+_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent
+
+name: ${env_name}_eval_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-eval/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path:
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-mixed-v0
+obs_dim: 60
+action_dim: 9
+denoising_steps: 20
+cond_steps: 1
+horizon_steps: 4
+act_steps: 4
+
+n_steps: 70
+render_num: 0
+
+env:
+  n_envs: 40
+  name: ${env_name}
+  max_episode_steps: 280
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 4
+  wrappers:
+    mujoco_locomotion_lowdim:
+      normalization_path: ${normalization_path}
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+model:
+  _target_: model.diffusion.diffusion.DiffusionModel
+  predict_epsilon: True
+  denoised_clip_value: 1.0
+  #
+  network_path: ${base_policy_path}
+  network:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    time_dim: 16
+    mlp_dims: [256, 256, 256]
+    cond_mlp_dims: [128, 32]
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}