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
@@ -1,60 +0,0 @@
-defaults:
-  - _self_
-hydra:
-  run:
-    dir: ${logdir}
-_target_: agent.pretrain.train_gaussian_agent.TrainGaussianAgent
-
-name: ${env}_pre_gaussian_mlp_ta${horizon_steps}
-logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-train_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env}/train.npz
-
-seed: 42
-device: cuda:0
-env: transport
-obs_dim: 59
-action_dim: 14
-horizon_steps: 1
-cond_steps: 1
-
-wandb:
-  entity: ${oc.env:DPPO_WANDB_ENTITY}
-  project: robomimic-${env}-pretrain
-  run: ${now:%H-%M-%S}_${name}
-
-train:
-  n_epochs: 5000
-  batch_size: 256
-  learning_rate: 1e-4
-  weight_decay: 0
-  lr_scheduler:
-    first_cycle_steps: 5000
-    warmup_steps: 100
-    min_lr: 1e-4
-  epoch_start_ema: 20
-  update_ema_freq: 10
-  save_model_freq: 1000
-
-model:
-  _target_: model.common.gaussian.GaussianModel
-  network:
-    _target_: model.common.mlp_gaussian.Gaussian_MLP
-    mlp_dims: [1024, 1024, 1024]
-    activation_type: ReLU
-    dropout: 0.5
-    fixed_std: 0.1
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
-    horizon_steps: ${horizon_steps}
-    action_dim: ${action_dim}
-  horizon_steps: ${horizon_steps}
-  device: ${device}
-
-ema:
-  decay: 0.995
-
-train_dataset:
-  _target_: agent.dataset.sequence.StitchedSequenceDataset
-  dataset_path: ${train_dataset_path}
-  horizon_steps: ${horizon_steps}
-  cond_steps: ${cond_steps}
-  device: ${device}