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>
This commit is contained in:
Allen Z. Ren
co-authored by
Justin M. Lidard
Justin Lidard
Justin M. Lidard
Justin Lidard
parent
7b10df690d
commit
dc8e0c9edc
+157
-2
@@ -7,6 +7,12 @@ def get_dataset_download_url(cfg):
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return "https://drive.google.com/drive/u/1/folders/1BJu8NklriunDHsDrLT6fEpcro3_2IPFf"
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elif env == "halfcheetah-medium-v2":
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return "https://drive.google.com/drive/u/1/folders/1Drel26tiuQ9oD3YNf1eyy0UVaf5SQj-U"
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elif env == "kitchen-complete-v0":
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return "https://drive.google.com/drive/u/1/folders/18aqg7KIv-YNXohTsRR7Zmg-RyDtdhkLc"
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elif env == "kitchen-partial-v0":
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return "https://drive.google.com/drive/u/1/folders/1zLOx1q4FbJK1ZWLui_vhM2x1fMEkBC2D"
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elif env == "kitchen-mixed-v0":
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return "https://drive.google.com/drive/u/1/folders/1HRMM16UC10A00oBqjYOL1E8hS5icwtvo"
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# D3IL
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elif env == "avoid" and cfg.mode == "d56_r12": # M1
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return "https://drive.google.com/drive/u/1/folders/1ZAPvLQwv2y4Q98UDVKXFT4fvGF5yhD_o"
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@@ -14,7 +20,20 @@ def get_dataset_download_url(cfg):
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return "https://drive.google.com/drive/u/1/folders/1wyJi1Zbnd6JNy4WGszHBH40A0bbl-vkd"
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elif env == "avoid" and cfg.mode == "d58_r12": # M3
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return "https://drive.google.com/drive/u/1/folders/1mNXCIPnCO_FDBlEj95InA9eWJM2XcEEj"
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# Robomimic
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# Robomimic-PH
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elif (
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env == "can"
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and "ph" in cfg.train_dataset_path
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and "img" not in cfg.train_dataset_path
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):
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return "https://drive.google.com/drive/folders/1rpVsdpqWPygL89E-t4SLQmZgwQ3mpNnY?usp=drive_link"
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elif (
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env == "square"
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and "ph" in cfg.train_dataset_path
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and "img" not in cfg.train_dataset_path
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):
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return "https://drive.google.com/drive/folders/1wqqjT9JZ9LX11l2Sz_vGxfcT3BfcNrGk?usp=drive_link"
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# Robomimic-MH
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elif env == "lift" and "img" not in cfg.train_dataset_path: # state
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return "https://drive.google.com/drive/u/1/folders/1lbXgMKBTAiFdJqPZqWXpwjEyrVW16MBu"
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elif env == "lift" and "img" in cfg.train_dataset_path: # img
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@@ -58,6 +77,12 @@ def get_normalization_download_url(cfg):
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return "https://drive.google.com/file/d/1NSX7t3DFKaBj5HNpv91Oo5h6oXTk0zoo/view?usp=drive_link"
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elif env == "halfcheetah-medium-v2":
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return "https://drive.google.com/file/d/1LlwCMfy1b5e8jSx99CV3lWhcrQWrI2Jm/view?usp=drive_link"
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elif env == "kitchen-complete-v0":
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return "https://drive.google.com/file/d/1tBATWLoP1E5s08vr5fiUZBzn8EEsjEZh/view?usp=drive_link"
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elif env == "kitchen-partial-v0":
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return "https://drive.google.com/file/d/1Ptt0cwQwmb5_HGNM-zggRaDKfkqqNO5e/view?usp=drive_link"
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elif env == "kitchen-mixed-v0":
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return "https://drive.google.com/file/d/11gj846QTYFPeV14nhcL5Z9OA5RHIGVt1/view?usp=drive_link"
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# D3IL
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elif env == "avoiding-m5" and cfg.mode == "d56_r12": # M1
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return "https://drive.google.com/file/d/1PubKaPabbiSdWYpGmouDhYfXp4QwNHFG/view?usp=drive_link"
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@@ -65,7 +90,20 @@ def get_normalization_download_url(cfg):
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return "https://drive.google.com/file/d/1Hoohw8buhsLzXoqivMA6IzKS5Izlj07_/view?usp=drive_link"
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elif env == "avoiding-m5" and cfg.mode == "d58_r12": # M3
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return "https://drive.google.com/file/d/1qt7apV52C9Tflsc-A55J6uDMHzaFa1wN/view?usp=drive_link"
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# Robomimic
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# Robomimic-PH
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elif (
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env == "can"
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and "ph" in cfg.normalization_path
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and "img" not in cfg.normalization_path
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):
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return "https://drive.google.com/file/d/1y04FAEXgK6UlZuDiQzTumS9lz-Ufn47B/view?usp=drive_link"
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elif (
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env == "square"
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and "ph" in cfg.normalization_path
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and "img" not in cfg.normalization_path
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):
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return "https://drive.google.com/file/d/1_75UM0frCZVtcROgfWsdJ0FstToZd1b5/view?usp=drive_link"
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# Robomimic-MH
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elif env == "lift" and "img" not in cfg.normalization_path: # state
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return "https://drive.google.com/file/d/1d3WjwRds-7I5bBFpZuY27OT9ycb8r_QM/view?usp=drive_link"
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elif env == "lift" and "img" in cfg.normalization_path: # img
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@@ -120,6 +158,71 @@ def get_checkpoint_download_url(cfg):
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in path
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):
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return "https://drive.google.com/file/d/1o9ryyeZQAsaB4ffUTCJkIaGCi0frL3G4/view?usp=drive_link"
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# Demo-RL
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elif (
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"halfcheetah-medium-v2_pre_diffusion_mlp_ta1_td20/2024-09-29_02-13-10_42/checkpoint/state_1000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1Oi5JhsU45ScHdlrtn5AX8Ji7InLBVj4D/view?usp=drive_link"
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elif (
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"halfcheetah-medium-v2_pre_gaussian_mlp_ta1/2024-09-28_18-48-54_42/checkpoint/state_500.pt"
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in path
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):
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return "https://drive.google.com/file/d/14rbYGaCxvj1PtELKVfdXNHJ1Od2G6FLw/view?usp=drive_link"
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elif (
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"halfcheetah-medium-v2_calql_mlp_ta1/2024-09-29_22-59-08_42/checkpoint/state_49.pt"
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in path
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):
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return "https://drive.google.com/file/d/1Xf758xzsAqpFwV955OVUNL6Za90XPo1K/view?usp=drive_link"
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elif (
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"kitchen-complete-v0_pre_diffusion_mlp_ta4_td20/2024-10-20_16-47-42_42/checkpoint/state_8000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1YBwyNd30a4_inu2sZzNSNLJQsj8fN3ZX/view?usp=drive_link"
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elif (
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"kitchen-complete-v0_calql_mlp_ta1/2024-10-26_01-01-33_42/checkpoint/state_999.pt"
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in path
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):
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return "https://drive.google.com/file/d/1K4V59iXNQbpOvu3u5y6C9R5piMU9idYm/view?usp=drive_link"
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elif (
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"kitchen-complete-v0_pre_gaussian_mlp_ta1/2024-10-25_14-48-43_42/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1tQYgnkdhR5wnuXC4Ha_mKHuIdg6J627s/view?usp=drive_link"
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elif (
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"kitchen-partial-v0_pre_diffusion_mlp_ta4_td20/2024-10-20_16-48-29_42/checkpoint/state_8000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1oSupKkUjCFQVWBIJV5Seh-CclWhgpopS/view?usp=drive_link"
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elif (
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"kitchen-partial-v0_calql_mlp_ta1/2024-10-25_21-26-51_42/checkpoint/state_980.pt"
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in path
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):
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return "https://drive.google.com/file/d/17HUDp3l8mJsMIW-DRraKPhUkH44KGTbA/view?usp=drive_link"
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elif (
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"kitchen-partial-v0_pre_gaussian_mlp_ta1/2024-10-25_01-45-52_42/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1-ZmGRPi4jMS7HfqHPvWrSPxNSoTwih6q/view?usp=drive_link"
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elif (
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"kitchen-mixed-v0_pre_diffusion_mlp_ta4_td20/2024-10-20_16-48-28_42/checkpoint/state_8000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1X24Hqbn4b4xyLK_1A3D6zhSgsN7frVCG/view?usp=drive_link"
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elif (
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"kitchen-mixed-v0_calql_mlp_ta1/2024-10-25_21-36-13_42/checkpoint/state_999.pt"
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in path
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):
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return "https://drive.google.com/file/d/1AP7bbzAwwfuSLmV1HkQLfmd76MXQn2Za/view?usp=drive_link"
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elif (
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"kitchen-mixed-v0_pre_gaussian_mlp_ta1/2024-10-25_01-39-44_42/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1LEzGhMOqL3YZFXMGn1mTcOh-tm4Lh1SH/view?usp=drive_link"
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######################################
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#### D3IL
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######################################
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@@ -246,6 +349,32 @@ def get_checkpoint_download_url(cfg):
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in path
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):
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return "https://drive.google.com/file/d/1xSgwGG40zdoO2DDSM79l0rMHeNmaifnq/view?usp=drive_link"
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# demo-PH
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elif (
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"can_pre_diffusion_mlp_ta1_td20/2024-10-14_10-54-33_0/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1Ze86hw2E0jJinn3Vx683JQ10Gq5FIJad/view?usp=drive_link"
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elif (
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"can_pre_gaussian_mlp_ta1/2024-10-08_20-52-04_0/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1jP3mEOhZojWiTXCMZ0ajFRMkAAmonGxV/view?usp=drive_link"
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elif "can_calql_mlp_ta1/2024-10-09_11-05-07_0/checkpoint/state_999.pt" in path:
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return "https://drive.google.com/file/d/1ERaZKTXmL-vdyU8PZ2X9GjFIMVKJjA2N/view?usp=drive_link"
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# demo-MH
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elif (
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"can_pre_diffusion_mlp_ta1_td20/2024-09-29_15-43-07_42/checkpoint/state_8000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1pEs1cK1x5obAtJA9pFSN1CWG79gNhH24/view?usp=drive_link"
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elif (
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"can_pre_gaussian_mlp_ta1/2024-09-28_13-43-59_42/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1Fa3yflkvYSAy6PKT646U1VAqUJ0YHqsj/view?usp=drive_link"
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elif "can_calql_mlp_ta1/2024-10-25_22-30-16_42/checkpoint/state_999.pt" in path:
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return "https://drive.google.com/file/d/1AA94uEaK_SzG2mTpaKqZIwNMh6omL_g0/view?usp=drive_link"
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######################################
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#### Robomimic-Square
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######################################
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@@ -286,6 +415,32 @@ def get_checkpoint_download_url(cfg):
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in path
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):
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return "https://drive.google.com/file/d/1LczXhgeNtQfqySsfGNbbviPrlLwyh-E3/view?usp=drive_link"
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# demo-PH
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elif (
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"square_pre_diffusion_mlp_ta1_td20/2024-10-14_10-54-33_0/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1_Jnz14ySxqbtZa9IIEWkXqy5_-EwJLBw/view?usp=drive_link"
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elif (
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"square_pre_gaussian_mlp_ta1/2024-10-08_20-52-42_0/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1ZPWKUoZ93OqqVX3ephQMkpeBZoYrceM5/view?usp=drive_link"
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elif "square_calql_mlp_ta1/2024-10-09_11-05-07_0/checkpoint/state_999.pt" in path:
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return "https://drive.google.com/file/d/1_7YtUwRd_U5tuOvhHogJDhkEsE-4D24V/view?usp=drive_link"
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# demo-MH
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elif (
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"square_pre_diffusion_mlp_ta1_td20/2024-09-29_02-14-14_42/checkpoint/state_8000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1ks1PnUBvFVWPnpGnYL8_eIfLNeGZbv1p/view?usp=drive_link"
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elif (
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"square_pre_gaussian_mlp_ta1/2024-09-28_13-42-43_42/checkpoint/state_5000.pt"
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in path
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):
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return "https://drive.google.com/file/d/1uIOn8QUkGRbhZLkQ9ziOkP7yGQnpYdk7/view?usp=drive_link"
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elif "square_calql_mlp_ta1/2024-10-25_22-44-12_42/checkpoint/state_999.pt" in path:
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return "https://drive.google.com/file/d/1zgzG6bx6ugAEaq72z9WpXX6iewClcKTV/view?usp=drive_link"
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######################################
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#### Robomimic-Transport
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######################################
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Block a user