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>

README.md

@@ -31,12 +31,11 @@ conda activate dppo
 pip install -e .
 ```
 
-3. Install specific environment dependencies (Gym / Robomimic / D3IL / Furniture-Bench) or all dependencies
+3. Install specific environment dependencies (Gym / Kitchen / Robomimic / D3IL / Furniture-Bench) or all dependencies (except for Kitchen, which has dependency conflicts with other tasks).
 ```console
-pip install -e .[gym] # or [robomimic], [d3il], [furniture]
-pip install -e .[all]
+pip install -e .[gym] # or [kitchen], [robomimic], [d3il], [furniture]
+pip install -e .[all] # except for Kitchen
 ```
-<!-- **Note**: Please do not set macros for robomimic and robosuite that the warnings suggest --- we will use some different global variables than the ones defined in macro.py  -->
 
 4. [Install MuJoCo for Gym and/or Robomimic](installation/install_mujoco.md). [Install D3IL](installation/install_d3il.md). [Install IsaacGym and Furniture-Bench](installation/install_furniture.md)
 
@@ -161,6 +160,7 @@ Our diffusion implementation is mostly based on [Diffuser](https://github.com/ja
 * `model.min_sampling_denoising_std`: <img src="https://latex.codecogs.com/gif.latex?\epsilon^\text{exp}_\text{min} "/>, minimum amount of noise when sampling at a denoising step
 * `model.min_logprob_denoising_std`: <img src="https://latex.codecogs.com/gif.latex?\epsilon^\text{prob}_\text{min} "/>, minimum standard deviation when evaluating likelihood at a denoising step
 * `model.clip_ploss_coef`: PPO clipping ratio
+* `train.batch_size`: you may notice the batch size is rather large --- this is due to the PPO update being in expectation over both environment steps and denoising steps (new in v0.6).
 
 ### DDIM fine-tuning
 

agent/finetune/train_calql_agent.py

@@ -82,8 +82,6 @@ class TrainCalQLAgent(TrainAgent):
         if self.train_online:
             # number of episode to colect per epoch for training
             self.n_episode_per_epoch = cfg.train.n_episode_per_epoch
-            # UTD ratio
-            self.online_utd_ratio = cfg.train.online_utd_ratio
 
         # Eval episodes
         self.n_eval_episode = cfg.train.n_eval_episode
@@ -204,9 +202,13 @@ class TrainCalQLAgent(TrainAgent):
                     action_venv = samples[:, : self.act_steps]
 
                 # Apply multi-step action
-                obs_venv, reward_venv, terminated_venv, truncated_venv, info_venv = (
-                    self.venv.step(action_venv)
-                )
+                (
+                    obs_venv,
+                    reward_venv,
+                    terminated_venv,
+                    truncated_venv,
+                    info_venv,
+                ) = self.venv.step(action_venv)
                 done_venv = terminated_venv | truncated_venv
                 reward_trajs[step] = reward_venv
                 firsts_trajs[step + 1] = done_venv
@@ -308,7 +310,8 @@ class TrainCalQLAgent(TrainAgent):
 
                 # override num_update
                 if self.train_online:
-                    num_update = len(reward_trajs)  # assume one env!
+                    # the amount of new transitions(single env)
+                    num_update = len(reward_trajs_split[0])
                 else:
                     num_update = self.num_update
                 for _ in range(num_update):
@@ -413,7 +416,6 @@ class TrainCalQLAgent(TrainAgent):
                         reward_to_go_b,
                         terminated_b,
                         self.gamma,
-                        alpha,
                     )
                     self.critic_optimizer.zero_grad()
                     loss_critic.backward()

agent/finetune/train_ibrl_agent.py

@@ -145,7 +145,6 @@ class TrainIBRLAgent(TrainAgent):
             # Collect a set of trajectories from env
             cnt_episode = 0
             for step in range(n_steps):
-
                 # Select action
                 with torch.no_grad():
                     cond = {
@@ -164,9 +163,13 @@ class TrainIBRLAgent(TrainAgent):
                 action_venv = samples[:, : self.act_steps]
 
                 # Apply multi-step action
-                obs_venv, reward_venv, terminated_venv, truncated_venv, info_venv = (
-                    self.venv.step(action_venv)
-                )
+                (
+                    obs_venv,
+                    reward_venv,
+                    terminated_venv,
+                    truncated_venv,
+                    info_venv,
+                ) = self.venv.step(action_venv)
                 done_venv = terminated_venv | truncated_venv
                 reward_trajs[step] = reward_venv
                 firsts_trajs[step + 1] = done_venv
@@ -177,14 +180,13 @@ class TrainIBRLAgent(TrainAgent):
                         obs_buffer.append(prev_obs_venv["state"][i])
                         if "final_obs" in info_venv[i]:  # truncated
                             next_obs_buffer.append(info_venv[i]["final_obs"]["state"])
-                            terminated_venv[i] = False
                         else:  # first obs in new episode
                             next_obs_buffer.append(obs_venv["state"][i])
                         action_buffer.append(action_venv[i])
                     reward_buffer.extend(
                         (reward_venv * self.scale_reward_factor).tolist()
                     )
-                    terminated_buffer.append(terminated_venv.tolist())
+                    terminated_buffer.extend(terminated_venv.tolist())
 
                 # update for next step
                 prev_obs_venv = obs_venv

agent/finetune/train_ppo_diffusion_agent.py

@@ -19,7 +19,6 @@ from util.scheduler import CosineAnnealingWarmupRestarts
 
 
 class TrainPPODiffusionAgent(TrainPPOAgent):
-
     def __init__(self, cfg):
         super().__init__(cfg)
 
@@ -46,7 +45,6 @@ class TrainPPODiffusionAgent(TrainPPOAgent):
             )
 
     def run(self):
-
         # Start training loop
         timer = Timer()
         run_results = []
@@ -54,7 +52,6 @@ class TrainPPODiffusionAgent(TrainPPOAgent):
         last_itr_eval = False
         done_venv = np.zeros((1, self.n_envs))
         while self.itr < self.n_train_itr:
-
             # Prepare video paths for each envs --- only applies for the first set of episodes if allowing reset within iteration and each iteration has multiple episodes from one env
             options_venv = [{} for _ in range(self.n_envs)]
             if self.itr % self.render_freq == 0 and self.render_video:
@@ -126,9 +123,13 @@ class TrainPPODiffusionAgent(TrainPPOAgent):
                 action_venv = output_venv[:, : self.act_steps]
 
                 # Apply multi-step action
-                obs_venv, reward_venv, terminated_venv, truncated_venv, info_venv = (
-                    self.venv.step(action_venv)
-                )
+                (
+                    obs_venv,
+                    reward_venv,
+                    terminated_venv,
+                    truncated_venv,
+                    info_venv,
+                ) = self.venv.step(action_venv)
                 done_venv = terminated_venv | truncated_venv
                 if self.save_full_observations:  # state-only
                     obs_full_venv = np.array(
@@ -285,40 +286,45 @@ class TrainPPODiffusionAgent(TrainPPOAgent):
                     )
                 }
                 chains_k = einops.rearrange(
-                    torch.tensor(chains_trajs).float().to(self.device),
+                    torch.tensor(chains_trajs, device=self.device).float(),
                     "s e t h d -> (s e) t h d",
                 )
                 returns_k = (
-                    torch.tensor(returns_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(returns_trajs, device=self.device).float().reshape(-1)
                 )
                 values_k = (
-                    torch.tensor(values_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(values_trajs, device=self.device).float().reshape(-1)
                 )
                 advantages_k = (
-                    torch.tensor(advantages_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(advantages_trajs, device=self.device)
+                    .float()
+                    .reshape(-1)
                 )
-                logprobs_k = torch.tensor(logprobs_trajs).float().to(self.device)
+                logprobs_k = torch.tensor(logprobs_trajs, device=self.device).float()
 
                 # Update policy and critic
-                total_steps = self.n_steps * self.n_envs
-                inds_k = np.arange(total_steps)
+                total_steps = self.n_steps * self.n_envs * self.model.ft_denoising_steps
                 clipfracs = []
                 for update_epoch in range(self.update_epochs):
-
                     # for each epoch, go through all data in batches
                     flag_break = False
-                    np.random.shuffle(inds_k)
+                    inds_k = torch.randperm(total_steps, device=self.device)
                     num_batch = max(1, total_steps // self.batch_size)  # skip last ones
                     for batch in range(num_batch):
                         start = batch * self.batch_size
                         end = start + self.batch_size
                         inds_b = inds_k[start:end]  # b for batch
-                        obs_b = {"state": obs_k["state"][inds_b]}
-                        chains_b = chains_k[inds_b]
-                        returns_b = returns_k[inds_b]
-                        values_b = values_k[inds_b]
-                        advantages_b = advantages_k[inds_b]
-                        logprobs_b = logprobs_k[inds_b]
+                        batch_inds_b, denoising_inds_b = torch.unravel_index(
+                            inds_b,
+                            (self.n_steps * self.n_envs, self.model.ft_denoising_steps),
+                        )
+                        obs_b = {"state": obs_k["state"][batch_inds_b]}
+                        chains_prev_b = chains_k[batch_inds_b, denoising_inds_b]
+                        chains_next_b = chains_k[batch_inds_b, denoising_inds_b + 1]
+                        returns_b = returns_k[batch_inds_b]
+                        values_b = values_k[batch_inds_b]
+                        advantages_b = advantages_k[batch_inds_b]
+                        logprobs_b = logprobs_k[batch_inds_b, denoising_inds_b]
 
                         # get loss
                         (
@@ -332,7 +338,9 @@ class TrainPPODiffusionAgent(TrainPPOAgent):
                             eta,
                         ) = self.model.loss(
                             obs_b,
-                            chains_b,
+                            chains_prev_b,
+                            chains_next_b,
+                            denoising_inds_b,
                             returns_b,
                             values_b,
                             advantages_b,

agent/finetune/train_ppo_diffusion_img_agent.py

@@ -283,40 +283,44 @@ class TrainPPOImgDiffusionAgent(TrainPPODiffusionAgent):
                     for k in obs_trajs
                 }
                 chains_k = einops.rearrange(
-                    torch.tensor(chains_trajs).float().to(self.device),
+                    torch.tensor(chains_trajs, device=self.device).float(),
                     "s e t h d -> (s e) t h d",
                 )
                 returns_k = (
-                    torch.tensor(returns_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(returns_trajs, device=self.device).float().reshape(-1)
                 )
                 values_k = (
-                    torch.tensor(values_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(values_trajs, device=self.device).float().reshape(-1)
                 )
                 advantages_k = (
-                    torch.tensor(advantages_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(advantages_trajs, device=self.device).float().reshape(-1)
                 )
-                logprobs_k = torch.tensor(logprobs_trajs).float().to(self.device)
+                logprobs_k = torch.tensor(logprobs_trajs, device=self.device).float()
 
                 # Update policy and critic
-                total_steps = self.n_steps * self.n_envs
-                inds_k = np.arange(total_steps)
+                total_steps = self.n_steps * self.n_envs * self.model.ft_denoising_steps
                 clipfracs = []
                 for update_epoch in range(self.update_epochs):
 
                     # for each epoch, go through all data in batches
                     flag_break = False
-                    np.random.shuffle(inds_k)
+                    inds_k = torch.randperm(total_steps, device=self.device)
                     num_batch = max(1, total_steps // self.batch_size)  # skip last ones
                     for batch in range(num_batch):
                         start = batch * self.batch_size
                         end = start + self.batch_size
                         inds_b = inds_k[start:end]  # b for batch
-                        obs_b = {k: obs_k[k][inds_b] for k in obs_k}
-                        chains_b = chains_k[inds_b]
-                        returns_b = returns_k[inds_b]
-                        values_b = values_k[inds_b]
-                        advantages_b = advantages_k[inds_b]
-                        logprobs_b = logprobs_k[inds_b]
+                        batch_inds_b, denoising_inds_b = torch.unravel_index(
+                            inds_b,
+                            (self.n_steps * self.n_envs, self.model.ft_denoising_steps),
+                        )
+                        obs_b = {k: obs_k[k][batch_inds_b] for k in obs_k}
+                        chains_prev_b = chains_k[batch_inds_b, denoising_inds_b]
+                        chains_next_b = chains_k[batch_inds_b, denoising_inds_b + 1]
+                        returns_b = returns_k[batch_inds_b]
+                        values_b = values_k[batch_inds_b]
+                        advantages_b = advantages_k[batch_inds_b]
+                        logprobs_b = logprobs_k[batch_inds_b, denoising_inds_b]
 
                         # get loss
                         (
@@ -330,7 +334,9 @@ class TrainPPOImgDiffusionAgent(TrainPPODiffusionAgent):
                             eta,
                         ) = self.model.loss(
                             obs_b,
-                            chains_b,
+                            chains_prev_b,
+                            chains_next_b,
+                            denoising_inds_b,
                             returns_b,
                             values_b,
                             advantages_b,

agent/finetune/train_ppo_exact_diffusion_agent.py

@@ -249,29 +249,28 @@ class TrainPPOExactDiffusionAgent(TrainPPODiffusionAgent):
                     )
                 }
                 samples_k = einops.rearrange(
-                    torch.tensor(samples_trajs).float().to(self.device),
+                    torch.tensor(samples_trajs, device=self.device).float(),
                     "s e h d -> (s e) h d",
                 )
                 returns_k = (
-                    torch.tensor(returns_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(returns_trajs, device=self.device).float().reshape(-1)
                 )
                 values_k = (
-                    torch.tensor(values_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(values_trajs, device=self.device).float().reshape(-1)
                 )
                 advantages_k = (
-                    torch.tensor(advantages_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(advantages_trajs, device=self.device).float().reshape(-1)
                 )
-                logprobs_k = torch.tensor(logprobs_trajs).float().to(self.device)
+                logprobs_k = torch.tensor(logprobs_trajs, device=self.device).float()
 
                 # Update policy and critic
                 total_steps = self.n_steps * self.n_envs
-                inds_k = np.arange(total_steps)
                 clipfracs = []
                 for update_epoch in range(self.update_epochs):
 
                     # for each epoch, go through all data in batches
                     flag_break = False
-                    np.random.shuffle(inds_k)
+                    inds_k = torch.randperm(total_steps, device=self.device)
                     num_batch = max(1, total_steps // self.batch_size)  # skip last ones
                     for batch in range(num_batch):
                         start = batch * self.batch_size

agent/finetune/train_ppo_gaussian_agent.py

@@ -210,7 +210,7 @@ class TrainPPOGaussianAgent(TrainPPOAgent):
                         )
                         reward_trajs = reward_trajs_transpose.T
 
-                    # bootstrap value with GAE if not done - apply reward scaling with constant if specified
+                    # bootstrap value with GAE if not terminal - apply reward scaling with constant if specified
                     obs_venv_ts = {
                         "state": torch.from_numpy(obs_venv["state"])
                         .float()
@@ -250,31 +250,28 @@ class TrainPPOGaussianAgent(TrainPPOAgent):
                     )
                 }
                 samples_k = einops.rearrange(
-                    torch.tensor(samples_trajs).float().to(self.device),
+                    torch.tensor(samples_trajs, device=self.device).float(),
                     "s e h d -> (s e) h d",
                 )
                 returns_k = (
-                    torch.tensor(returns_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(returns_trajs, device=self.device).float().reshape(-1)
                 )
                 values_k = (
-                    torch.tensor(values_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(values_trajs, device=self.device).float().reshape(-1)
                 )
                 advantages_k = (
-                    torch.tensor(advantages_trajs).float().to(self.device).reshape(-1)
-                )
-                logprobs_k = (
-                    torch.tensor(logprobs_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(advantages_trajs, device=self.device).float().reshape(-1)
                 )
+                logprobs_k = torch.tensor(logprobs_trajs, device=self.device).float()
 
                 # Update policy and critic
                 total_steps = self.n_steps * self.n_envs
-                inds_k = np.arange(total_steps)
                 clipfracs = []
                 for update_epoch in range(self.update_epochs):
 
                     # for each epoch, go through all data in batches
                     flag_break = False
-                    np.random.shuffle(inds_k)
+                    inds_k = torch.randperm(total_steps, device=self.device)
                     num_batch = max(1, total_steps // self.batch_size)  # skip last ones
                     for batch in range(num_batch):
                         start = batch * self.batch_size

agent/finetune/train_ppo_gaussian_img_agent.py

@@ -231,7 +231,7 @@ class TrainPPOImgGaussianAgent(TrainPPOGaussianAgent):
                         )
                         reward_trajs = reward_trajs_transpose.T
 
-                    # bootstrap value with GAE if not done - apply reward scaling with constant if specified
+                    # bootstrap value with GAE if not terminal - apply reward scaling with constant if specified
                     obs_venv_ts = {
                         key: torch.from_numpy(obs_venv[key]).float().to(self.device)
                         for key in self.obs_dims
@@ -271,29 +271,28 @@ class TrainPPOImgGaussianAgent(TrainPPOGaussianAgent):
                     for k in obs_trajs
                 }
                 samples_k = einops.rearrange(
-                    torch.tensor(samples_trajs).float().to(self.device),
+                    torch.tensor(samples_trajs, device=self.device).float(),
                     "s e h d -> (s e) h d",
                 )
                 returns_k = (
-                    torch.tensor(returns_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(returns_trajs, device=self.device).float().reshape(-1)
                 )
                 values_k = (
-                    torch.tensor(values_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(values_trajs, device=self.device).float().reshape(-1)
                 )
                 advantages_k = (
-                    torch.tensor(advantages_trajs).float().to(self.device).reshape(-1)
+                    torch.tensor(advantages_trajs, device=self.device).float().reshape(-1)
                 )
-                logprobs_k = torch.tensor(logprobs_trajs).float().to(self.device)
+                logprobs_k = torch.tensor(logprobs_trajs, device=self.device).float()
 
                 # Update policy and critic
                 total_steps = self.n_steps * self.n_envs
-                inds_k = np.arange(total_steps)
                 clipfracs = []
                 for update_epoch in range(self.update_epochs):
 
                     # for each epoch, go through all data in batches
                     flag_break = False
-                    np.random.shuffle(inds_k)
+                    inds_k = torch.randperm(total_steps, device=self.device)
                     num_batch = max(1, total_steps // self.batch_size)  # skip last ones
                     for batch in range(num_batch):
                         start = batch * self.batch_size

cfg/furniture/finetune/lamp_low/ft_ppo_diffusion_unet.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 8800
+  batch_size: 40000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/furniture/finetune/lamp_med/ft_ppo_diffusion_unet.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 8800
+  batch_size: 40000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/furniture/finetune/one_leg_low/ft_ppo_diffusion_mlp.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 8800
+  batch_size: 17600
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/furniture/finetune/one_leg_low/ft_ppo_diffusion_unet.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 8800
+  batch_size: 30000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/furniture/finetune/one_leg_med/ft_ppo_diffusion_unet.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 8800
+  batch_size: 30000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/furniture/finetune/round_table_low/ft_ppo_diffusion_unet.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 8800
+  batch_size: 40000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/furniture/finetune/round_table_med/ft_ppo_diffusion_unet.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 8800
+  batch_size: 40000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/gym/eval/kitchen-v0/eval_diffusion_mlp.yaml

@@ -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}

cfg/gym/finetune/halfcheetah-v2/calql_mlp_online.yaml

@@ -7,7 +7,7 @@ _target_: agent.finetune.train_calql_agent.TrainCalQLAgent
 
 name: ${env_name}_calql_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/halfcheetah-medium-v2_calql_mlp_ta1/2024-09-29_22-59-08_42/checkpoint/state_49.pt
 normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
 
@@ -92,7 +92,7 @@ model:
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
     std_max: 7.3891
     std_min: 0.0067
   critic:

cfg/gym/finetune/halfcheetah-v2/ft_ppo_diffusion_mlp.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 5000
+  batch_size: 50000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/gym/finetune/halfcheetah-v2/ft_ppo_diffusion_mlp_ta1.yaml

@@ -0,0 +1,108 @@
+defaults:
+  - _self_
+hydra:
+  run:  
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ppo_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/halfcheetah-medium-v2_pre_diffusion_mlp_ta1_td20/2024-09-29_02-13-10_42/checkpoint/state_1000.pt
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: halfcheetah-medium-v2
+obs_dim: 17
+action_dim: 6
+denoising_steps: 20
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 20
+  name: ${env_name}
+  max_episode_steps: 1000
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 3  # success rate not relevant for gym tasks
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 501
+  n_critic_warmup_itr: 0
+  n_steps: 1000
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 10000
+  update_epochs: 5
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.99
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.01
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+  critic:
+    _target_: model.common.critic.CriticObs
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/finetune/halfcheetah-v2/ibrl_mlp.yaml

@@ -8,7 +8,7 @@ _target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
 name: ${env_name}_ibrl_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
 normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/halfcheetah-medium-v2_pre_gaussian_mlp_ta1/2024-09-28_18-48-54_42/checkpoint/state_500.pt
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
 
 seed: 42
@@ -87,7 +87,7 @@ model:
     fixed_std: 0.1
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObsAct
     mlp_dims: [256, 256, 256]

cfg/gym/finetune/hopper-v2/ft_ppo_diffusion_mlp.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 5000
+  batch_size: 50000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/gym/finetune/hopper-v2/sac_mlp.yaml

@@ -1,89 +0,0 @@
-defaults:
-  - _self_
-hydra:
-  run:
-    dir: ${logdir}
-_target_: agent.finetune.train_sac_agent.TrainSACAgent
-
-name: ${env_name}_sac_mlp_ta${horizon_steps}
-logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
-offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
-
-seed: 42
-device: cuda:0
-env_name: hopper-medium-v2
-obs_dim: 11
-action_dim: 3
-cond_steps: 1
-horizon_steps: 1
-act_steps: 1
-
-env:
-  n_envs: 1
-  name: ${env_name}
-  max_episode_steps: 1000
-  reset_at_iteration: False
-  save_video: False
-  best_reward_threshold_for_success: 3
-  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
-
-wandb:
-  entity: ${oc.env:DPPO_WANDB_ENTITY}
-  project: sac-gym-${env_name}
-  run: ${now:%H-%M-%S}_${name}
-
-train:
-  n_train_itr: 1000000
-  n_steps: 1
-  gamma: 0.99
-  actor_lr: 3e-4
-  critic_lr: 1e-3
-  save_model_freq: 100000
-  val_freq: 10000
-  render:
-    freq: 1
-    num: 0
-  log_freq: 200
-  # SAC specific
-  batch_size: 256
-  target_ema_rate: 0.005
-  scale_reward_factor: 1
-  critic_replay_ratio: 256
-  actor_replay_ratio: 128
-  buffer_size: 1000000
-  n_eval_episode: 10
-  n_explore_steps: 5000
-  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
-  init_temperature: 1
-
-model:
-  _target_: model.rl.gaussian_sac.SAC_Gaussian
-  randn_clip_value: 10
-  tanh_output: True # squash after sampling
-  actor:
-    _target_: model.common.mlp_gaussian.Gaussian_MLP
-    mlp_dims: [256, 256]
-    activation_type: ReLU
-    tanh_output: False  # squash after sampling instead
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
-    horizon_steps: ${horizon_steps}
-    
-    std_max: 7.3891
-    std_min: 0.0067
-  critic: # no layernorm
-    _target_: model.common.critic.CriticObsAct
-    mlp_dims: [256, 256]
-    activation_type: ReLU
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
-    action_dim: ${action_dim}
-    action_steps: ${act_steps}
-  horizon_steps: ${horizon_steps}
-  device: ${device}

cfg/gym/finetune/kitchen-complete-v0/calql_mlp_online.yaml

@@ -0,0 +1,116 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_calql_agent.TrainCalQLAgent
+
+name: ${env_name}_calql_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-complete-v0_calql_mlp_ta1/2024-10-26_01-01-33_42/checkpoint/state_999.pt
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-complete-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: calql-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 10000
+  n_steps: 1  # not used
+  n_episode_per_epoch: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 3e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 3e-4
+  save_model_freq: 100
+  val_freq: 20
+  render:
+    freq: 1
+    num: 0
+  log_freq: 1
+  # CalQL specific
+  train_online: True
+  batch_size: 256
+  n_random_actions: 10
+  target_ema_rate: 0.005
+  scale_reward_factor: 1.0
+  num_update: 1000
+  buffer_size: 1000000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+  automatic_entropy_tuning: True
+
+model:
+  _target_: model.rl.gaussian_calql.CalQL_Gaussian
+  randn_clip_value: 3
+  cql_min_q_weight: 5.0
+  tanh_output: True
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  discount_factor: ${train.gamma}
+  get_mc_return: True

cfg/gym/finetune/kitchen-complete-v0/ft_ppo_diffusion_mlp.yaml

@@ -0,0 +1,108 @@
+defaults:
+  - _self_
+hydra:
+  run:  
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ppo_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-complete-v0_pre_diffusion_mlp_ta4_td20/2024-10-20_16-47-42_42/checkpoint/state_8000.pt
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-complete-v0
+obs_dim: 60
+action_dim: 9
+denoising_steps: 20
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 4
+act_steps: 4
+
+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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 301
+  n_critic_warmup_itr: 0
+  n_steps: 70
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 5600
+  update_epochs: 10
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.99
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.01
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _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}
+  critic:
+    _target_: model.common.critic.CriticObs
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/finetune/kitchen-complete-v0/ibrl_mlp.yaml

@@ -0,0 +1,109 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
+
+name: ${env_name}_ibrl_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/gym-pretrain/kitchen-complete-v0_pre_gaussian_mlp_ta1/2024-10-25_14-48-43_42/checkpoint/state_5000.pt
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-complete-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: ibrl-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 50000
+  val_freq: 5000
+  render:
+    freq: 1
+    num: 0
+  log_freq: 200
+  # IBRL specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 5
+  buffer_size: 500000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  update_freq: 2
+
+model:
+  _target_: model.rl.gaussian_ibrl.IBRL_Gaussian
+  randn_clip_value: 3
+  n_critics: 5
+  soft_action_sample: True
+  soft_action_sample_beta: 10
+  actor:
+    _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}
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [1024, 1024, 1024]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  max_n_episodes: 50

cfg/gym/finetune/kitchen-mixed-v0/calql_mlp_online.yaml

@@ -7,15 +7,15 @@ _target_: agent.finetune.train_calql_agent.TrainCalQLAgent
 
 name: ${env_name}_calql_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-mixed-v0_calql_mlp_ta1/2024-10-25_21-36-13_42/checkpoint/state_999.pt
 normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
 
 seed: 42
 device: cuda:0
-env_name: hopper-medium-v2
-obs_dim: 11
-action_dim: 3
+env_name: kitchen-mixed-v0
+obs_dim: 60
+action_dim: 9
 cond_steps: 1
 horizon_steps: 1
 act_steps: 1
@@ -23,10 +23,10 @@ act_steps: 1
 env:
   n_envs: 1
   name: ${env_name}
-  max_episode_steps: 1000
+  max_episode_steps: 280
   reset_at_iteration: False
   save_video: False
-  best_reward_threshold_for_success: 3
+  best_reward_threshold_for_success: 4
   wrappers:
     mujoco_locomotion_lowdim:
       normalization_path: ${normalization_path}
@@ -59,7 +59,7 @@ train:
     warmup_steps: 10
     min_lr: 3e-4
   save_model_freq: 100
-  val_freq: 10
+  val_freq: 20
   render:
     freq: 1
     num: 0
@@ -67,13 +67,12 @@ train:
   # CalQL specific
   train_online: True
   batch_size: 256
-  n_random_actions: 4
+  n_random_actions: 10
   target_ema_rate: 0.005
   scale_reward_factor: 1.0
   num_update: 1000
   buffer_size: 1000000
-  online_utd_ratio: 1
-  n_eval_episode: 10
+  n_eval_episode: 40
   n_explore_steps: 0
   target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
   init_temperature: 1
@@ -87,17 +86,17 @@ model:
   network_path: ${base_policy_path}
   actor:
     _target_: model.common.mlp_gaussian.Gaussian_MLP
-    mlp_dims: [256, 256]
+    mlp_dims: [256, 256, 256]
     activation_type: ReLU
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
     std_max: 7.3891
     std_min: 0.0067
   critic:
     _target_: model.common.critic.CriticObsAct
-    mlp_dims: [256, 256]
+    mlp_dims: [256, 256, 256]
     activation_type: ReLU
     use_layernorm: True
     double_q: True

cfg/gym/finetune/kitchen-mixed-v0/ft_ppo_diffusion_mlp.yaml

@@ -0,0 +1,108 @@
+defaults:
+  - _self_
+hydra:
+  run:  
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ppo_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-mixed-v0_pre_diffusion_mlp_ta4_td20/2024-10-20_16-48-28_42/checkpoint/state_8000.pt
+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
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 4
+act_steps: 4
+
+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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 301
+  n_critic_warmup_itr: 0
+  n_steps: 70
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 5600
+  update_epochs: 10
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.99
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.01
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _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}
+  critic:
+    _target_: model.common.critic.CriticObs
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/finetune/kitchen-mixed-v0/ibrl_mlp.yaml

@@ -8,14 +8,14 @@ _target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
 name: ${env_name}_ibrl_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
 normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-mixed-v0_pre_gaussian_mlp_ta1/2024-10-25_01-39-44_42/checkpoint/state_5000.pt
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
 
 seed: 42
 device: cuda:0
-env_name: hopper-medium-v2
-obs_dim: 11
-action_dim: 3
+env_name: kitchen-mixed-v0
+obs_dim: 60
+action_dim: 9
 cond_steps: 1
 horizon_steps: 1
 act_steps: 1
@@ -23,10 +23,10 @@ act_steps: 1
 env:
   n_envs: 1
   name: ${env_name}
-  max_episode_steps: 1000
+  max_episode_steps: 280
   reset_at_iteration: False
   save_video: False
-  best_reward_threshold_for_success: 3
+  best_reward_threshold_for_success: 4
   wrappers:
     mujoco_locomotion_lowdim:
       normalization_path: ${normalization_path}
@@ -42,7 +42,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 250000
+  n_train_itr: 1000000
   n_steps: 1
   gamma: 0.99
   actor_lr: 1e-4
@@ -51,14 +51,14 @@ train:
     first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-4
-  critic_lr: 1e-4
+  critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-4
+    min_lr: 1e-3
   save_model_freq: 50000
-  val_freq: 2000
+  val_freq: 5000
   render:
     freq: 1
     num: 0
@@ -68,8 +68,8 @@ train:
   target_ema_rate: 0.01
   scale_reward_factor: 1
   critic_num_update: 5
-  buffer_size: 1000000
-  n_eval_episode: 10
+  buffer_size: 500000
+  n_eval_episode: 40
   n_explore_steps: 0
   update_freq: 2
 
@@ -78,19 +78,19 @@ model:
   randn_clip_value: 3
   n_critics: 5
   soft_action_sample: True
-  soft_action_sample_beta: 0.1
-  network_path: ${base_policy_path}
+  soft_action_sample_beta: 10
   actor:
     _target_: model.common.mlp_gaussian.Gaussian_MLP
-    mlp_dims: [256, 256, 256]
-    activation_type: Mish
+    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}
   critic:
     _target_: model.common.critic.CriticObsAct
-    mlp_dims: [256, 256, 256]
+    mlp_dims: [1024, 1024, 1024]
     activation_type: ReLU
     use_layernorm: True
     double_q: False # use ensemble
@@ -106,3 +106,4 @@ offline_dataset:
   horizon_steps: ${horizon_steps}
   cond_steps: ${cond_steps}
   device: ${device}
+  max_n_episodes: 50

cfg/gym/finetune/kitchen-partial-v0/calql_mlp_online.yaml

@@ -0,0 +1,116 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_calql_agent.TrainCalQLAgent
+
+name: ${env_name}_calql_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-partial-v0_calql_mlp_ta1/2024-10-25_21-26-51_42/checkpoint/state_980.pt
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-partial-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: calql-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 10000
+  n_steps: 1  # not used
+  n_episode_per_epoch: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 3e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 3e-4
+  save_model_freq: 100
+  val_freq: 20
+  render:
+    freq: 1
+    num: 0
+  log_freq: 1
+  # CalQL specific
+  train_online: True
+  batch_size: 256
+  n_random_actions: 10
+  target_ema_rate: 0.005
+  scale_reward_factor: 1.0
+  num_update: 1000
+  buffer_size: 1000000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+  automatic_entropy_tuning: True
+
+model:
+  _target_: model.rl.gaussian_calql.CalQL_Gaussian
+  randn_clip_value: 3
+  cql_min_q_weight: 5.0
+  tanh_output: True
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  discount_factor: ${train.gamma}
+  get_mc_return: True

cfg/gym/finetune/kitchen-partial-v0/ft_ppo_diffusion_mlp.yaml

@@ -0,0 +1,108 @@
+defaults:
+  - _self_
+hydra:
+  run:  
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ppo_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-partial-v0_pre_diffusion_mlp_ta4_td20/2024-10-20_16-48-29_42/checkpoint/state_8000.pt
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-partial-v0
+obs_dim: 60
+action_dim: 9
+denoising_steps: 20
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 4
+act_steps: 4
+
+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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 301
+  n_critic_warmup_itr: 0
+  n_steps: 70
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 5600
+  update_epochs: 10
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.99
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.01
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _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}
+  critic:
+    _target_: model.common.critic.CriticObs
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/finetune/kitchen-partial-v0/ibrl_mlp.yaml

@@ -0,0 +1,109 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
+
+name: ${env_name}_ibrl_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/kitchen-partial-v0_pre_gaussian_mlp_ta1/2024-10-25_01-45-52_42/checkpoint/state_5000.pt
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-partial-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: ibrl-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 50000
+  val_freq: 5000
+  render:
+    freq: 1
+    num: 0
+  log_freq: 200
+  # IBRL specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 5
+  buffer_size: 500000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  update_freq: 2
+
+model:
+  _target_: model.rl.gaussian_ibrl.IBRL_Gaussian
+  randn_clip_value: 3
+  n_critics: 5
+  soft_action_sample: True
+  soft_action_sample_beta: 10
+  actor:
+    _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}
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [1024, 1024, 1024]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  max_n_episodes: 50

cfg/gym/finetune/walker2d-v2/ft_ppo_diffusion_mlp.yaml

@@ -68,7 +68,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 5000
+  batch_size: 50000
   update_epochs: 5
   vf_coef: 0.5
   target_kl: 1

cfg/gym/finetune/walker2d-v2/ft_rlpd_mlp.yaml

@@ -1,103 +0,0 @@
-defaults:
-  - _self_
-hydra:
-  run:
-    dir: ${logdir}
-_target_: agent.finetune.train_rlpd_agent.TrainRLPDAgent
-
-name: ${env_name}_rlpd_mlp_ta${horizon_steps}_td${denoising_steps}
-logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
-offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
-
-seed: 42
-device: cuda:0
-env_name: walker2d-medium-v2
-obs_dim: 17
-action_dim: 6
-denoising_steps: 20
-cond_steps: 1
-horizon_steps: 1
-act_steps: 1
-
-env:
-  n_envs: 40
-  name: ${env_name}
-  max_episode_steps: 1000
-  reset_at_iteration: False
-  save_video: False
-  best_reward_threshold_for_success: 3
-  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
-
-wandb:
-  entity: ${oc.env:DPPO_WANDB_ENTITY}
-  project: rlpd-gym-${env_name}-finetune
-  run: ${now:%H-%M-%S}_${name}
-
-train:
-  n_train_itr: 1000
-  n_critic_warmup_itr: 5
-  n_steps: 2000
-  gamma: 0.99
-  actor_lr: 1e-4
-  actor_weight_decay: 0
-  actor_lr_scheduler:
-    first_cycle_steps: 1000
-    warmup_steps: 10
-    min_lr: 1e-4
-  critic_lr: 1e-3
-  critic_weight_decay: 0
-  critic_lr_scheduler:
-    first_cycle_steps: 1000
-    warmup_steps: 10
-    min_lr: 1e-3
-  save_model_freq: 100
-  val_freq: 10
-  render:
-    freq: 1
-    num: 0
-  # RLPD specific
-  batch_size: 512
-  entropy_temperature: 1.0    # alpha in RLPD paper
-  target_ema_rate: 0.005         # rho in RLPD paper
-  scale_reward_factor: 1.0    # multiply reward by this amount for more stable value estimation
-  replay_ratio: 64          # number of batches to sample for each learning update
-  buffer_size: 1000000
-
-model:
-  _target_: model.rl.gaussian_rlpd.RLPD_Gaussian
-  randn_clip_value: 3
-  actor:
-    _target_: model.common.mlp_gaussian.Gaussian_MLP
-    mlp_dims: [512, 512, 512]
-    activation_type: ReLU
-    residual_style: True
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
-    horizon_steps: ${horizon_steps}
-    action_dim: ${action_dim}
-  critic:
-    _target_: model.common.critic.CriticObsAct
-    action_dim: ${action_dim}
-    action_steps: ${act_steps}
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
-    mlp_dims: [256, 256, 256]
-    activation_type: Mish
-    residual_style: True
-    use_layernorm: True
-  horizon_steps: ${horizon_steps}
-  device: ${device}
-  n_critics: 2            # Ensemble size for critic models
-
-offline_dataset:
-  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
-  dataset_path: ${offline_dataset_path}
-  horizon_steps: ${horizon_steps}
-  cond_steps: ${cond_steps}
-  device: ${device}

cfg/gym/pretrain/halfcheetah-medium-v2/calql_mlp_offline.yaml

@@ -88,7 +88,7 @@ model:
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
     std_max: 7.3891
     std_min: 0.0067
   critic:

cfg/gym/pretrain/kitchen-complete-v0/calql_mlp_offline.yaml

@@ -0,0 +1,113 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_calql_agent.TrainCalQLAgent
+
+name: ${env_name}_calql_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-complete-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: calql-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_steps: 1  # not used
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 20
+  render:
+    freq: 1
+    num: 0
+  log_freq: 1
+  # CalQL specific
+  train_online: False
+  batch_size: 256
+  n_random_actions: 10
+  target_ema_rate: 0.005
+  scale_reward_factor: 1.0
+  num_update: 1000
+  buffer_size: 1000000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+  automatic_entropy_tuning: True
+
+model:
+  _target_: model.rl.gaussian_calql.CalQL_Gaussian
+  randn_clip_value: 3
+  cql_min_q_weight: 5.0
+  tanh_output: True
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  discount_factor: ${train.gamma}
+  get_mc_return: True

cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml

@@ -0,0 +1,66 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.pretrain.train_diffusion_agent.TrainDiffusionAgent
+
+name: ${env}_pre_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+train_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env}/train.npz
+
+seed: 42
+device: cuda:0
+env: kitchen-complete-v0
+obs_dim: 60
+action_dim: 9
+denoising_steps: 20
+horizon_steps: 4
+cond_steps: 1
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env}-pretrain
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_epochs: 8000
+  batch_size: 128
+  learning_rate: 1e-3
+  weight_decay: 1e-6
+  lr_scheduler:
+    first_cycle_steps: 8000
+    warmup_steps: 1
+    min_lr: 1e-4
+  epoch_start_ema: 10
+  update_ema_freq: 5
+  save_model_freq: 1000
+
+model:
+  _target_: model.diffusion.diffusion.DiffusionModel
+  predict_epsilon: True
+  denoised_clip_value: 1.0
+  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}
+
+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}

cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml

@@ -0,0 +1,60 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.pretrain.train_gaussian_agent.TrainGaussianAgent
+
+name: ${env}_pre_gaussian_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+train_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env}/train.npz
+
+seed: 42
+device: cuda:0
+env: kitchen-complete-v0
+obs_dim: 60
+action_dim: 9
+horizon_steps: 1
+cond_steps: 1
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${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}

cfg/gym/pretrain/kitchen-mixed-v0/calql_mlp_offline.yaml

@@ -6,15 +6,15 @@ hydra:
 _target_: agent.finetune.train_calql_agent.TrainCalQLAgent
 
 name: ${env_name}_calql_mlp_ta${horizon_steps}
-logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
 normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
 
 seed: 42
 device: cuda:0
-env_name: hopper-medium-v2
-obs_dim: 11
-action_dim: 3
+env_name: kitchen-mixed-v0
+obs_dim: 60
+action_dim: 9
 cond_steps: 1
 horizon_steps: 1
 act_steps: 1
@@ -22,10 +22,10 @@ act_steps: 1
 env:
   n_envs: 1
   name: ${env_name}
-  max_episode_steps: 1000
+  max_episode_steps: 280
   reset_at_iteration: False
   save_video: False
-  best_reward_threshold_for_success: 3
+  best_reward_threshold_for_success: 4
   wrappers:
     mujoco_locomotion_lowdim:
       normalization_path: ${normalization_path}
@@ -41,7 +41,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 100
+  n_train_itr: 1000
   n_steps: 1  # not used
   gamma: 0.99
   actor_lr: 1e-4
@@ -50,14 +50,14 @@ train:
     first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-4
-  critic_lr: 3e-4
+  critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 3e-4
+    min_lr: 1e-3
   save_model_freq: 10
-  val_freq: 10
+  val_freq: 20
   render:
     freq: 1
     num: 0
@@ -65,12 +65,12 @@ train:
   # CalQL specific
   train_online: False
   batch_size: 256
-  n_random_actions: 4
+  n_random_actions: 10
   target_ema_rate: 0.005
   scale_reward_factor: 1.0
   num_update: 1000
   buffer_size: 1000000
-  n_eval_episode: 10
+  n_eval_episode: 40
   n_explore_steps: 0
   target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
   init_temperature: 1
@@ -83,17 +83,17 @@ model:
   tanh_output: True
   actor:
     _target_: model.common.mlp_gaussian.Gaussian_MLP
-    mlp_dims: [256, 256]
+    mlp_dims: [256, 256, 256]
     activation_type: ReLU
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
     std_max: 7.3891
     std_min: 0.0067
   critic:
     _target_: model.common.critic.CriticObsAct
-    mlp_dims: [256, 256]
+    mlp_dims: [256, 256, 256]
     activation_type: ReLU
     use_layernorm: True
     double_q: True

cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml

@@ -0,0 +1,66 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.pretrain.train_diffusion_agent.TrainDiffusionAgent
+
+name: ${env}_pre_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+train_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env}/train.npz
+
+seed: 42
+device: cuda:0
+env: kitchen-mixed-v0
+obs_dim: 60
+action_dim: 9
+denoising_steps: 20
+horizon_steps: 4
+cond_steps: 1
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env}-pretrain
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_epochs: 8000
+  batch_size: 256
+  learning_rate: 1e-3
+  weight_decay: 1e-6
+  lr_scheduler:
+    first_cycle_steps: 8000
+    warmup_steps: 1
+    min_lr: 1e-4
+  epoch_start_ema: 10
+  update_ema_freq: 5
+  save_model_freq: 1000
+
+model:
+  _target_: model.diffusion.diffusion.DiffusionModel
+  predict_epsilon: True
+  denoised_clip_value: 1.0
+  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}
+
+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}

cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml

@@ -0,0 +1,59 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.pretrain.train_gaussian_agent.TrainGaussianAgent
+
+name: ${env}_pre_gaussian_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+train_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env}/train.npz
+
+seed: 42
+device: cuda:0
+env: kitchen-mixed-v0
+obs_dim: 60
+action_dim: 9
+horizon_steps: 4
+cond_steps: 1
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env}-pretrain
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_epochs: 5000
+  batch_size: 128
+  learning_rate: 1e-3
+  weight_decay: 1e-6
+  lr_scheduler:
+    first_cycle_steps: 5000
+    warmup_steps: 1
+    min_lr: 1e-4
+  epoch_start_ema: 10
+  update_ema_freq: 5
+  save_model_freq: 1000
+
+model:
+  _target_: model.common.gaussian.GaussianModel
+  network:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    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}

cfg/gym/pretrain/kitchen-partial-v0/calql_mlp_offline.yaml

@@ -0,0 +1,113 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_calql_agent.TrainCalQLAgent
+
+name: ${env_name}_calql_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-partial-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: calql-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_steps: 1  # not used
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 10
+  val_freq: 20
+  render:
+    freq: 1
+    num: 0
+  log_freq: 1
+  # CalQL specific
+  train_online: False
+  batch_size: 256
+  n_random_actions: 10
+  target_ema_rate: 0.005
+  scale_reward_factor: 1.0
+  num_update: 1000
+  buffer_size: 1000000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+  automatic_entropy_tuning: True
+
+model:
+  _target_: model.rl.gaussian_calql.CalQL_Gaussian
+  randn_clip_value: 3
+  cql_min_q_weight: 5.0
+  tanh_output: True
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  discount_factor: ${train.gamma}
+  get_mc_return: True

cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml

@@ -0,0 +1,66 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.pretrain.train_diffusion_agent.TrainDiffusionAgent
+
+name: ${env}_pre_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+train_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env}/train.npz
+
+seed: 42
+device: cuda:0
+env: kitchen-partial-v0
+obs_dim: 60
+action_dim: 9
+denoising_steps: 20
+horizon_steps: 4
+cond_steps: 1
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env}-pretrain
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_epochs: 8000
+  batch_size: 128
+  learning_rate: 1e-3
+  weight_decay: 1e-5
+  lr_scheduler:
+    first_cycle_steps: 8000
+    warmup_steps: 1
+    min_lr: 1e-4
+  epoch_start_ema: 10
+  update_ema_freq: 5
+  save_model_freq: 1000
+
+model:
+  _target_: model.diffusion.diffusion.DiffusionModel
+  predict_epsilon: True
+  denoised_clip_value: 1.0
+  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}
+
+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}

cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml

@@ -0,0 +1,59 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.pretrain.train_gaussian_agent.TrainGaussianAgent
+
+name: ${env}_pre_gaussian_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+train_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env}/train.npz
+
+seed: 42
+device: cuda:0
+env: kitchen-partial-v0
+obs_dim: 60
+action_dim: 9
+horizon_steps: 4
+cond_steps: 1
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env}-pretrain
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_epochs: 5000
+  batch_size: 128
+  learning_rate: 1e-3
+  weight_decay: 1e-6
+  lr_scheduler:
+    first_cycle_steps: 5000
+    warmup_steps: 1
+    min_lr: 1e-4
+  epoch_start_ema: 10
+  update_ema_freq: 5
+  save_model_freq: 1000
+
+model:
+  _target_: model.common.gaussian.GaussianModel
+  network:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    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}

cfg/gym/scratch/halfcheetah-v2/ppo_diffusion_mlp.yaml

@@ -14,8 +14,8 @@ device: cuda:0
 env_name: halfcheetah-medium-v2
 obs_dim: 17
 action_dim: 6
-denoising_steps: 20
-ft_denoising_steps: 20
+denoising_steps: 10
+ft_denoising_steps: 10
 cond_steps: 1
 horizon_steps: 1
 act_steps: 1
@@ -67,7 +67,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 1000
+  batch_size: 10000
   update_epochs: 10
   vf_coef: 0.5
   target_kl: 1

cfg/gym/scratch/halfcheetah-v2/ppo_gaussian_mlp.yaml

@@ -53,7 +53,7 @@ train:
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 10000
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100

cfg/gym/scratch/halfcheetah-v2/rlpd_mlp.yaml

@@ -86,7 +86,7 @@ model:
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
     std_max: 7.3891
     std_min: 0.0067
   critic:

cfg/gym/scratch/halfcheetah-v2/sac_mlp.yaml

@@ -75,7 +75,7 @@ model:
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
     std_max: 7.3891
     std_min: 0.0067
   critic: # no layernorm

cfg/gym/scratch/hopper-v2/awr_diffusion_mlp.yaml

@@ -0,0 +1,99 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_awr_diffusion_agent.TrainAWRDiffusionAgent
+
+name: ${env_name}_awr_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: hopper-medium-v2
+obs_dim: 11
+action_dim: 3
+denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 10
+  name: ${env_name}
+  max_episode_steps: 1000
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 3
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-scratch
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_critic_warmup_itr: 0
+  n_steps: 1000
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # AWR specific
+  scale_reward_factor: 0.01
+  max_adv_weight: 100
+  beta: 10
+  buffer_size: 100000 # * n_envs
+  batch_size: 256
+  replay_ratio: 128
+  critic_update_ratio: 4
+
+model:
+  _target_: model.diffusion.diffusion_awr.AWRDiffusion
+  # Sampling HPs
+  min_sampling_denoising_std: 0.10
+  randn_clip_value: 3
+  #
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    residual_style: True
+  critic:
+    _target_: model.common.critic.CriticObs
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/scratch/hopper-v2/dipo_diffusion_mlp.yaml

@@ -0,0 +1,101 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_dipo_diffusion_agent.TrainDIPODiffusionAgent
+
+name: ${env_name}_dipo_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: hopper-medium-v2
+obs_dim: 11
+action_dim: 3
+denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 10
+  name: ${env_name}
+  max_episode_steps: 1000
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 3
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-scratch
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_critic_warmup_itr: 0
+  n_steps: 1000
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # DIPO specific
+  scale_reward_factor: 0.01
+  target_ema_rate: 0.005
+  buffer_size: 1000000
+  action_lr: 0.0001
+  action_gradient_steps: 10
+  replay_ratio: 128
+  batch_size: 256
+
+model:
+  _target_: model.diffusion.diffusion_dipo.DIPODiffusion
+  # Sampling HPs
+  min_sampling_denoising_std: 0.10
+  randn_clip_value: 3
+  #
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    residual_style: True
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/scratch/hopper-v2/dql_diffusion_mlp.yaml

@@ -0,0 +1,100 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_dql_diffusion_agent.TrainDQLDiffusionAgent
+
+name: ${env_name}_dql_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: hopper-medium-v2
+obs_dim: 11
+action_dim: 3
+denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 10
+  name: ${env_name}
+  max_episode_steps: 1000
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 3
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-scratch
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_critic_warmup_itr: 0
+  n_steps: 1000
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # DQL specific
+  scale_reward_factor: 0.01
+  target_ema_rate: 0.005
+  buffer_size: 1000000
+  eta: 1.0
+  replay_ratio: 128
+  batch_size: 256
+
+model:
+  _target_: model.diffusion.diffusion_dql.DQLDiffusion
+  # Sampling HPs
+  min_sampling_denoising_std: 0.10
+  randn_clip_value: 3
+  #
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    residual_style: True
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/scratch/hopper-v2/idql_diffusion_mlp.yaml

@@ -0,0 +1,108 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_idql_diffusion_agent.TrainIDQLDiffusionAgent
+
+name: ${env_name}_idql_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: hopper-medium-v2
+obs_dim: 11
+action_dim: 3
+denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 10
+  name: ${env_name}
+  max_episode_steps: 1000
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 3
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-scratch
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_critic_warmup_itr: 0
+  n_steps: 1000
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # IDQL specific
+  scale_reward_factor: 0.01
+  eval_deterministic: True
+  eval_sample_num: 10 # how many samples to score during eval
+  critic_tau: 0.001  # rate of target q network update
+  use_expectile_exploration: True
+  buffer_size: 100000 # * n_envs
+  replay_ratio: 128
+  batch_size: 256
+
+model:
+  _target_: model.diffusion.diffusion_idql.IDQLDiffusion
+  # Sampling HPs
+  min_sampling_denoising_std: 0.10
+  randn_clip_value: 3
+  #
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    residual_style: True
+  critic_q:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  critic_v:
+    _target_: model.common.critic.CriticObs
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/scratch/hopper-v2/ppo_diffusion_mlp.yaml

@@ -14,8 +14,8 @@ device: cuda:0
 env_name: hopper-medium-v2
 obs_dim: 11
 action_dim: 3
-denoising_steps: 20
-ft_denoising_steps: 20
+denoising_steps: 10
+ft_denoising_steps: 10
 cond_steps: 1
 horizon_steps: 1
 act_steps: 1
@@ -55,7 +55,7 @@ train:
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 10000
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100
@@ -67,7 +67,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 1000
+  batch_size: 10000
   update_epochs: 10
   vf_coef: 0.5
   target_kl: 1
@@ -94,10 +94,10 @@ model:
     residual_style: True
   critic:
     _target_: model.common.critic.CriticObs
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/gym/scratch/hopper-v2/ppo_gaussian_mlp.yaml

@@ -53,7 +53,7 @@ train:
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 10000
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100

cfg/gym/scratch/hopper-v2/qsm_diffusion_mlp.yaml

@@ -0,0 +1,100 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_qsm_diffusion_agent.TrainQSMDiffusionAgent
+
+name: ${env_name}_qsm_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: hopper-medium-v2
+obs_dim: 11
+action_dim: 3
+denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 10
+  name: ${env_name}
+  max_episode_steps: 1000
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 3
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-scratch
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_critic_warmup_itr: 0
+  n_steps: 1000
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # QSM specific
+  scale_reward_factor: 0.01
+  q_grad_coeff: 50
+  critic_tau: 0.005
+  buffer_size: 100000 # * n_envs
+  replay_ratio: 128
+  batch_size: 256
+
+model:
+  _target_: model.diffusion.diffusion_qsm.QSMDiffusion
+  # Sampling HPs
+  min_sampling_denoising_std: 0.10
+  randn_clip_value: 3
+  #
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    residual_style: True
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/scratch/hopper-v2/rwr_diffusion_mlp.yaml

@@ -0,0 +1,84 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_rwr_diffusion_agent.TrainRWRDiffusionAgent
+
+name: ${env_name}_rwr_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: hopper-medium-v2
+obs_dim: 11
+action_dim: 3
+denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 10
+  name: ${env_name}
+  max_episode_steps: 1000
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 3
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: gym-${env_name}-scratch
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_critic_warmup_itr: 0
+  n_steps: 1000
+  gamma: 0.99
+  lr: 1e-4
+  weight_decay: 0
+  lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # RWR specific
+  max_reward_weight: 100
+  beta: 10
+  batch_size: 256
+  update_epochs: 128
+
+model:
+  _target_: model.diffusion.diffusion_rwr.RWRDiffusion
+  # Sampling HPs
+  min_sampling_denoising_std: 0.1
+  randn_clip_value: 3
+  #
+  network:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    residual_style: True
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/gym/scratch/kitchen-complete-v0/rlpd_mlp.yaml

@@ -0,0 +1,109 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_rlpd_agent.TrainRLPDAgent
+
+name: ${env_name}_rlpd_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-complete-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: rlpd-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 3e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 3e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 50000
+  val_freq: 5000
+  render:
+    freq: 1
+    num: 0
+  log_freq: 200
+  # RLPD specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 10
+  buffer_size: 400000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+
+model:
+  _target_: model.rl.gaussian_rlpd.RLPD_Gaussian
+  randn_clip_value: 10
+  tanh_output: True # squash after sampling
+  backup_entropy: True
+  n_critics: 5 # Ensemble size for critic models
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}

cfg/gym/scratch/kitchen-mixed-v0/rlpd_mlp.yaml

@@ -12,9 +12,9 @@ offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
 
 seed: 42
 device: cuda:0
-env_name: hopper-medium-v2
-obs_dim: 11
-action_dim: 3
+env_name: kitchen-mixed-v0
+obs_dim: 60
+action_dim: 9
 cond_steps: 1
 horizon_steps: 1
 act_steps: 1
@@ -22,10 +22,10 @@ act_steps: 1
 env:
   n_envs: 1
   name: ${env_name}
-  max_episode_steps: 1000
+  max_episode_steps: 280
   reset_at_iteration: False
   save_video: False
-  best_reward_threshold_for_success: 3
+  best_reward_threshold_for_success: 4
   wrappers:
     mujoco_locomotion_lowdim:
       normalization_path: ${normalization_path}
@@ -41,7 +41,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 250000
+  n_train_itr: 1000000
   n_steps: 1
   gamma: 0.99
   actor_lr: 3e-4
@@ -50,12 +50,12 @@ train:
     first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 3e-4
-  critic_lr: 3e-4
+  critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 3e-4
+    min_lr: 1e-3
   save_model_freq: 50000
   val_freq: 5000
   render:
@@ -64,12 +64,12 @@ train:
   log_freq: 200
   # RLPD specific
   batch_size: 256
-  target_ema_rate: 0.005
+  target_ema_rate: 0.01
   scale_reward_factor: 1
-  critic_num_update: 20
-  buffer_size: 1000000
-  n_eval_episode: 10
-  n_explore_steps: 5000
+  critic_num_update: 10
+  buffer_size: 400000
+  n_eval_episode: 40
+  n_explore_steps: 0
   target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
   init_temperature: 1
 
@@ -78,20 +78,20 @@ model:
   randn_clip_value: 10
   tanh_output: True # squash after sampling
   backup_entropy: True
-  n_critics: 10 # Ensemble size for critic models
+  n_critics: 5 # Ensemble size for critic models
   actor:
     _target_: model.common.mlp_gaussian.Gaussian_MLP
-    mlp_dims: [256, 256]
+    mlp_dims: [256, 256, 256]
     activation_type: ReLU
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}
     std_max: 7.3891
     std_min: 0.0067
   critic:
     _target_: model.common.critic.CriticObsAct
-    mlp_dims: [256, 256]
+    mlp_dims: [256, 256, 256]
     activation_type: ReLU
     use_layernorm: True
     double_q: False # use ensemble

cfg/gym/scratch/kitchen-partial-v0/rlpd_mlp.yaml

@@ -0,0 +1,109 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_rlpd_agent.TrainRLPDAgent
+
+name: ${env_name}_rlpd_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/gym-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+normalization_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/gym/${env_name}/train.npz
+
+seed: 42
+device: cuda:0
+env_name: kitchen-partial-v0
+obs_dim: 60
+action_dim: 9
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  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
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: rlpd-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 3e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 3e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 50000
+  val_freq: 5000
+  render:
+    freq: 1
+    num: 0
+  log_freq: 200
+  # RLPD specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 10
+  buffer_size: 400000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+
+model:
+  _target_: model.rl.gaussian_rlpd.RLPD_Gaussian
+  randn_clip_value: 10
+  tanh_output: True # squash after sampling
+  backup_entropy: True
+  n_critics: 5 # Ensemble size for critic models
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}

cfg/gym/scratch/walker2d-v2/ppo_diffusion_mlp.yaml

@@ -14,8 +14,8 @@ device: cuda:0
 env_name: walker2d-medium-v2
 obs_dim: 17
 action_dim: 6
-denoising_steps: 20
-ft_denoising_steps: 20
+denoising_steps: 10
+ft_denoising_steps: 10
 cond_steps: 1
 horizon_steps: 1
 act_steps: 1
@@ -67,7 +67,7 @@ train:
   reward_scale_running: True
   reward_scale_const: 1.0
   gae_lambda: 0.95
-  batch_size: 1000
+  batch_size: 10000
   update_epochs: 10
   vf_coef: 0.5
   target_kl: 1

cfg/gym/scratch/walker2d-v2/ppo_gaussian_mlp.yaml

@@ -53,7 +53,7 @@ train:
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 10000
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100

cfg/robomimic/finetune/can/calql_mlp_online.yaml

@@ -7,7 +7,7 @@ _target_: agent.finetune.train_calql_agent.TrainCalQLAgent
 
 name: ${env_name}_calql_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/can_calql_mlp_ta1/2024-10-25_22-30-16_42/checkpoint/state_999.pt
 robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
 normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/train.npz
@@ -97,7 +97,7 @@ model:
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}    
     std_max: 7.3891
     std_min: 0.0067
   critic:

cfg/robomimic/finetune/can/calql_mlp_online_ph.yaml

@@ -0,0 +1,122 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_calql_agent.TrainCalQLAgent
+
+name: ${env_name}_calql_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/can_calql_mlp_ta1/2024-10-09_11-05-07_0/checkpoint/state_999.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/train.npz
+
+seed: 42
+device: cuda:0
+env_name: can
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 300
+  reset_at_iteration: False
+  save_video: False
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: calql-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000
+  n_steps: 1  # not used
+  n_episode_per_epoch: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 3e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 3e-4
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  log_freq: 1
+  # CalQL specific
+  train_online: True
+  batch_size: 256
+  n_random_actions: 4
+  target_ema_rate: 0.005
+  scale_reward_factor: 1.0
+  num_update: 1000
+  buffer_size: 1000000
+  online_utd_ratio: 1
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+  automatic_entropy_tuning: True
+
+model:
+  _target_: model.rl.gaussian_calql.CalQL_Gaussian
+  randn_clip_value: 3
+  cql_min_q_weight: 5.0
+  tanh_output: True
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}    
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  discount_factor: ${train.gamma}
+  get_mc_return: True

cfg/robomimic/finetune/can/ft_awr_diffusion_mlp.yaml

@@ -26,7 +26,7 @@ env:
   name: ${env_name}
   best_reward_threshold_for_success: 1
   max_episode_steps: 300
-  save_video: false
+  save_video: False
   wrappers:
     robomimic_lowdim:
       normalization_path: ${normalization_path}
@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 151
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/can/ft_dql_diffusion_mlp.yaml

@@ -26,7 +26,7 @@ env:
   name: ${env_name}
   best_reward_threshold_for_success: 1
   max_episode_steps: 300
-  save_video: false
+  save_video: False
   wrappers:
     robomimic_lowdim:
       normalization_path: ${normalization_path}

cfg/robomimic/finetune/can/ft_idql_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 151
   n_critic_warmup_itr: 5
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp.yaml

@@ -47,16 +47,16 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 151
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999
-  actor_lr: 1e-5
+  actor_lr: 1e-4
   actor_weight_decay: 0
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-5
+    min_lr: 1e-4
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:

cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp_img.yaml

@@ -60,22 +60,22 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 200
+  n_train_itr: 151
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999
   augment: True
   grad_accumulate: 15
-  actor_lr: 1e-5
+  actor_lr: 1e-4
   actor_weight_decay: 0
   actor_lr_scheduler:
-    first_cycle_steps: 200
+    first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-5
+    min_lr: 1e-4
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 200
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100
@@ -96,7 +96,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_ppo.PPODiffusion
   # HP to tune
-  gamma_denoising: 0.9
+  gamma_denoising: 0.99
   clip_ploss_coef: 0.01
   clip_ploss_coef_base: 0.001
   clip_ploss_coef_rate: 3
@@ -158,10 +158,10 @@ model:
         embed_style: embed2
         embed_norm: 0
     img_cond_steps: ${img_cond_steps}
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp_ta1.yaml

@@ -0,0 +1,111 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ft_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/can_pre_diffusion_mlp_ta1_td20/2024-09-29_15-43-07_42/checkpoint/state_8000.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: can
+obs_dim: 23
+action_dim: 7
+denoising_steps: 20
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 50
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 300
+  save_video: False
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: robomimic-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 301
+  n_critic_warmup_itr: 2
+  n_steps: 300
+  gamma: 0.999
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 15000
+  update_epochs: 10
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.99
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.001
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+  critic:
+    _target_: model.common.critic.CriticObs
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp_ta1_ph.yaml

@@ -0,0 +1,111 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ft_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/can_pre_diffusion_mlp_ta1_td20/2024-10-14_10-54-33_0/checkpoint/state_5000.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: can
+obs_dim: 23
+action_dim: 7
+denoising_steps: 20
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 40
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 300
+  save_video: False
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: robomimic-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 301
+  n_critic_warmup_itr: 2
+  n_steps: 300
+  gamma: 0.999
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 6000
+  update_epochs: 10
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.9
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.001
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    time_dim: 16
+    mlp_dims: [512, 512, 512]
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+  critic:
+    _target_: model.common.critic.CriticObs
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/robomimic/finetune/can/ft_qsm_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 151
   n_critic_warmup_itr: 5
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/can/ft_rwr_diffusion_mlp.yaml

@@ -26,7 +26,7 @@ env:
   name: ${env_name}
   best_reward_threshold_for_success: 1
   max_episode_steps: 300
-  save_video: false
+  save_video: False
   wrappers:
     robomimic_lowdim:
       normalization_path: ${normalization_path}
@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 151
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/can/ibrl_mlp.yaml

@@ -7,7 +7,7 @@ _target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
 
 name: ${env_name}_ibrl_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/can_pre_gaussian_mlp_ta1/2024-09-28_13-43-59_42/checkpoint/state_5000.pt
 robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
 normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/train.npz
@@ -93,7 +93,7 @@ model:
     fixed_std: 0.1
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}    
   critic:
     _target_: model.common.critic.CriticObsAct
     mlp_dims: [1024, 1024, 1024]

cfg/robomimic/finetune/can/ibrl_mlp_ph.yaml

@@ -0,0 +1,115 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
+
+name: ${env_name}_ibrl_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/can_pre_gaussian_mlp_ta1/2024-10-08_20-52-04_0/checkpoint/state_5000.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/train.npz
+
+seed: 42
+device: cuda:0
+env_name: can
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  name: ${env_name}
+  max_episode_steps: 250  # IBRL uses 200
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 1
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: ibrl-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  save_model_freq: 100000
+  val_freq: 10000
+  render:
+    freq: 10000
+    num: 0
+  log_freq: 200
+  # IBRL specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 3
+  buffer_size: 400000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  update_freq: 2
+
+model:
+  _target_: model.rl.gaussian_ibrl.IBRL_Gaussian
+  randn_clip_value: 3
+  n_critics: 5
+  soft_action_sample: True
+  soft_action_sample_beta: 10
+  network_path: ${base_policy_path}
+  actor:
+    _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}    
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [1024, 1024, 1024]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  max_n_episodes: 100

cfg/robomimic/finetune/lift/ft_awr_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 81
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/lift/ft_dql_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 81
   n_critic_warmup_itr: 5
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/lift/ft_idql_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 81
   n_critic_warmup_itr: 5
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/lift/ft_ppo_diffusion_mlp.yaml

@@ -27,7 +27,7 @@ env:
   name: ${env_name}
   best_reward_threshold_for_success: 1
   max_episode_steps: 300
-  save_video: false
+  save_video: False
   wrappers:
     robomimic_lowdim:
       normalization_path: ${normalization_path}
@@ -47,16 +47,16 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 81
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999
-  actor_lr: 1e-5
+  actor_lr: 1e-4
   actor_weight_decay: 0
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-5
+    min_lr: 1e-4
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -99,10 +99,10 @@ model:
     action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/robomimic/finetune/lift/ft_ppo_diffusion_mlp_img.yaml

@@ -60,22 +60,22 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 200
+  n_train_itr: 151
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999
   augment: True
   grad_accumulate: 15
-  actor_lr: 1e-5
+  actor_lr: 1e-4
   actor_weight_decay: 0
   actor_lr_scheduler:
-    first_cycle_steps: 200
+    first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-5
+    min_lr: 1e-4
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 200
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100
@@ -96,7 +96,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_ppo.PPODiffusion
   # HP to tune
-  gamma_denoising: 0.9
+  gamma_denoising: 0.99
   clip_ploss_coef: 0.01
   clip_ploss_coef_base: 0.001
   clip_ploss_coef_rate: 3
@@ -158,10 +158,10 @@ model:
         embed_style: embed2
         embed_norm: 0
     img_cond_steps: ${img_cond_steps}
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/robomimic/finetune/lift/ft_qsm_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 81
   n_critic_warmup_itr: 5
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/lift/ft_rwr_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 81
   n_critic_warmup_itr: 2
   n_steps: 300
   gamma: 0.999

cfg/robomimic/finetune/square/calql_mlp_online.yaml

@@ -7,7 +7,7 @@ _target_: agent.finetune.train_calql_agent.TrainCalQLAgent
 
 name: ${env_name}_calql_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/square_calql_mlp_ta1/2024-10-25_22-44-12_42/checkpoint/state_999.pt
 robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
 normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/train.npz
@@ -97,7 +97,7 @@ model:
     tanh_output: False  # squash after sampling instead
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}    
     std_max: 7.3891
     std_min: 0.0067
   critic:

cfg/robomimic/finetune/square/calql_mlp_online_ph.yaml

@@ -0,0 +1,122 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_calql_agent.TrainCalQLAgent
+
+name: ${env_name}_calql_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/square_calql_mlp_ta1/2024-10-09_11-05-07_0/checkpoint/state_999.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/train.npz
+
+seed: 42
+device: cuda:0
+env_name: square
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 400
+  reset_at_iteration: False
+  save_video: False
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: calql-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 10000
+  n_steps: 1  # not used
+  n_episode_per_epoch: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 3e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 3e-4
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  log_freq: 1
+  # CalQL specific
+  train_online: True
+  batch_size: 256
+  n_random_actions: 4
+  target_ema_rate: 0.005
+  scale_reward_factor: 1.0
+  num_update: 1000
+  buffer_size: 1000000
+  online_utd_ratio: 1
+  n_eval_episode: 40
+  n_explore_steps: 0
+  target_entropy: ${eval:'- ${action_dim} * ${act_steps}'}
+  init_temperature: 1
+  automatic_entropy_tuning: True
+
+model:
+  _target_: model.rl.gaussian_calql.CalQL_Gaussian
+  randn_clip_value: 3
+  cql_min_q_weight: 5.0
+  tanh_output: True
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [512, 512, 512]
+    activation_type: ReLU
+    tanh_output: False  # squash after sampling instead
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}    
+    std_max: 7.3891
+    std_min: 0.0067
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [256, 256, 256]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  discount_factor: ${train.gamma}
+  get_mc_return: True

cfg/robomimic/finetune/square/ft_awr_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 201
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999

cfg/robomimic/finetune/square/ft_dql_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 201
   n_critic_warmup_itr: 5
   n_steps: 400
   gamma: 0.999

cfg/robomimic/finetune/square/ft_idql_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 201
   n_critic_warmup_itr: 5
   n_steps: 400
   gamma: 0.999

cfg/robomimic/finetune/square/ft_ppo_diffusion_mlp.yaml

@@ -47,16 +47,16 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 500
+  n_train_itr: 201
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999
-  actor_lr: 1e-5
+  actor_lr: 1e-4
   actor_weight_decay: 0
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-5
+    min_lr: 1e-4
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -100,10 +100,10 @@ model:
     action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/robomimic/finetune/square/ft_ppo_diffusion_mlp_img.yaml

@@ -60,7 +60,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 500
+  n_train_itr: 301
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999
@@ -69,13 +69,13 @@ train:
   actor_lr: 1e-5
   actor_weight_decay: 0
   actor_lr_scheduler:
-    first_cycle_steps: 500
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-5
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 500
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100
@@ -96,7 +96,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_ppo.PPODiffusion
   # HP to tune
-  gamma_denoising: 0.9
+  gamma_denoising: 0.99
   clip_ploss_coef: 0.01
   clip_ploss_coef_base: 0.001
   clip_ploss_coef_rate: 3
@@ -158,10 +158,10 @@ model:
         embed_style: embed2
         embed_norm: 0
     img_cond_steps: ${img_cond_steps}
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/robomimic/finetune/square/ft_ppo_diffusion_mlp_ta1.yaml

@@ -0,0 +1,112 @@
+defaults:
+  - _self_
+hydra:
+  run:  
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ft_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/square_pre_diffusion_mlp_ta1_td20/2024-09-29_02-14-14_42/checkpoint/state_8000.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: square
+obs_dim: 23
+action_dim: 7
+denoising_steps: 20
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 50
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 400
+  save_video: false
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: robomimic-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 301
+  n_critic_warmup_itr: 2
+  n_steps: 400
+  gamma: 0.999
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 20000
+  update_epochs: 10
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.99
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.001
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    time_dim: 32
+    mlp_dims: [1024, 1024, 1024]
+    cond_mlp_dims: [512, 64]
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+  critic:
+    _target_: model.common.critic.CriticObs
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/robomimic/finetune/square/ft_ppo_diffusion_mlp_ta1_ph.yaml

@@ -0,0 +1,112 @@
+defaults:
+  - _self_
+hydra:
+  run:  
+    dir: ${logdir}
+_target_: agent.finetune.train_ppo_diffusion_agent.TrainPPODiffusionAgent
+
+name: ${env_name}_ft_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}_tdf${ft_denoising_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/square_pre_diffusion_mlp_ta1_td20/2024-10-14_10-54-33_0/checkpoint/state_5000.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: square
+obs_dim: 23
+action_dim: 7
+denoising_steps: 20
+ft_denoising_steps: 10
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 40
+  name: ${env_name}
+  best_reward_threshold_for_success: 1
+  max_episode_steps: 400
+  save_video: false
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: robomimic-${env_name}-finetune
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 301
+  n_critic_warmup_itr: 2
+  n_steps: 400
+  gamma: 0.999
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-3
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-3
+  save_model_freq: 100
+  val_freq: 10
+  render:
+    freq: 1
+    num: 0
+  # PPO specific
+  reward_scale_running: True
+  reward_scale_const: 1.0
+  gae_lambda: 0.95
+  batch_size: 8000
+  update_epochs: 10
+  vf_coef: 0.5
+  target_kl: 1
+
+model:
+  _target_: model.diffusion.diffusion_ppo.PPODiffusion
+  # HP to tune
+  gamma_denoising: 0.9
+  clip_ploss_coef: 0.01
+  clip_ploss_coef_base: 0.001
+  clip_ploss_coef_rate: 3
+  randn_clip_value: 3
+  min_sampling_denoising_std: 0.1
+  min_logprob_denoising_std: 0.1
+  #
+  network_path: ${base_policy_path}
+  actor:
+    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
+    time_dim: 32
+    mlp_dims: [1024, 1024, 1024]
+    cond_mlp_dims: [512, 64]
+    residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    action_dim: ${action_dim}
+  critic:
+    _target_: model.common.critic.CriticObs
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    mlp_dims: [256, 256, 256]
+    activation_type: Mish
+    residual_style: True
+  ft_denoising_steps: ${ft_denoising_steps}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}

cfg/robomimic/finetune/square/ft_qsm_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 201
   n_critic_warmup_itr: 5
   n_steps: 400
   gamma: 0.999

cfg/robomimic/finetune/square/ft_rwr_diffusion_mlp.yaml

@@ -46,7 +46,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 300
+  n_train_itr: 201
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999

cfg/robomimic/finetune/square/ibrl_mlp.yaml

@@ -7,7 +7,7 @@ _target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
 
 name: ${env_name}_ibrl_mlp_ta${horizon_steps}
 logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
-base_policy_path:
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/square_pre_gaussian_mlp_ta1/2024-09-28_13-42-43_42/checkpoint/state_5000.pt
 robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
 normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
 offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/train.npz
@@ -93,7 +93,7 @@ model:
     fixed_std: 0.1
     cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     horizon_steps: ${horizon_steps}
-    
+    action_dim: ${action_dim}    
   critic:
     _target_: model.common.critic.CriticObsAct
     mlp_dims: [1024, 1024, 1024]

cfg/robomimic/finetune/square/ibrl_mlp_ph.yaml

@@ -0,0 +1,115 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.finetune.train_ibrl_agent.TrainIBRLAgent
+
+name: ${env_name}_ibrl_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-finetune/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/square_pre_gaussian_mlp_ta1/2024-10-08_20-52-42_0/checkpoint/state_5000.pt
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/normalization.npz
+offline_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}-ph/train.npz
+
+seed: 42
+device: cuda:0
+env_name: square
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+env:
+  n_envs: 1
+  name: ${env_name}
+  max_episode_steps: 350  # IBRL uses 300
+  reset_at_iteration: False
+  save_video: False
+  best_reward_threshold_for_success: 1
+  wrappers:
+    robomimic_lowdim:
+      normalization_path: ${normalization_path}
+      low_dim_keys: ['robot0_eef_pos',
+                    'robot0_eef_quat',
+                    'robot0_gripper_qpos',
+                    'object'] # same order of preprocessed observations
+    multi_step:
+      n_obs_steps: ${cond_steps}
+      n_action_steps: ${act_steps}
+      max_episode_steps: ${env.max_episode_steps}
+      reset_within_step: True
+
+wandb:
+  entity: ${oc.env:DPPO_WANDB_ENTITY}
+  project: ibrl-${env_name}
+  run: ${now:%H-%M-%S}_${name}
+
+train:
+  n_train_itr: 1000000
+  n_steps: 1
+  gamma: 0.99
+  actor_lr: 1e-4
+  actor_weight_decay: 0
+  actor_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  critic_lr: 1e-4
+  critic_weight_decay: 0
+  critic_lr_scheduler:
+    first_cycle_steps: 1000
+    warmup_steps: 10
+    min_lr: 1e-4
+  save_model_freq: 100000
+  val_freq: 10000
+  render:
+    freq: 10000
+    num: 0
+  log_freq: 200
+  # IBRL specific
+  batch_size: 256
+  target_ema_rate: 0.01
+  scale_reward_factor: 1
+  critic_num_update: 3
+  buffer_size: 400000
+  n_eval_episode: 40
+  n_explore_steps: 0
+  update_freq: 2
+
+model:
+  _target_: model.rl.gaussian_ibrl.IBRL_Gaussian
+  randn_clip_value: 3
+  n_critics: 5
+  soft_action_sample: True
+  soft_action_sample_beta: 10
+  network_path: ${base_policy_path}
+  actor:
+    _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}    
+  critic:
+    _target_: model.common.critic.CriticObsAct
+    mlp_dims: [1024, 1024, 1024]
+    activation_type: ReLU
+    use_layernorm: True
+    double_q: False # use ensemble
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
+  horizon_steps: ${horizon_steps}
+  device: ${device}
+
+offline_dataset:
+  _target_: agent.dataset.sequence.StitchedSequenceQLearningDataset
+  dataset_path: ${offline_dataset_path}
+  horizon_steps: ${horizon_steps}
+  cond_steps: ${cond_steps}
+  device: ${device}
+  max_n_episodes: 100

cfg/robomimic/finetune/transport/ft_awr_diffusion_mlp.yaml

@@ -26,7 +26,7 @@ env:
   name: ${env_name}
   best_reward_threshold_for_success: 1
   max_episode_steps: 800
-  save_video: false
+  save_video: False
   wrappers:
     robomimic_lowdim:
       normalization_path: ${normalization_path}
@@ -49,7 +49,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 1000
+  n_train_itr: 201
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999
@@ -58,7 +58,7 @@ train:
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-6
+    min_lr: 1e-5
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -82,7 +82,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_awr.AWRDiffusion
   # Sampling HPs
-  min_sampling_denoising_std: 0.08
+  min_sampling_denoising_std: 0.1
   randn_clip_value: 3
   #
   network_path: ${base_policy_path}

cfg/robomimic/finetune/transport/ft_dipo_diffusion_mlp.yaml

@@ -49,7 +49,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 1000
+  n_train_itr: 201
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999
@@ -58,7 +58,7 @@ train:
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-6
+    min_lr: 1e-5
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -82,7 +82,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_dipo.DIPODiffusion
   # HP to tune
-  min_sampling_denoising_std: 0.08
+  min_sampling_denoising_std: 0.1
   randn_clip_value: 3
   #
   network_path: ${base_policy_path}
@@ -96,12 +96,12 @@ model:
     action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObsAct
-    action_dim: ${action_dim}
-    action_steps: ${act_steps}
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    action_dim: ${action_dim}
+    action_steps: ${act_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}
   action_dim: ${action_dim}

cfg/robomimic/finetune/transport/ft_dql_diffusion_mlp.yaml

@@ -26,7 +26,7 @@ env:
   name: ${env_name}
   best_reward_threshold_for_success: 1
   max_episode_steps: 800
-  save_video: false
+  save_video: False
   wrappers:
     robomimic_lowdim:
       normalization_path: ${normalization_path}
@@ -49,8 +49,8 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 1000
-  n_critic_warmup_itr: 2
+  n_train_itr: 201
+  n_critic_warmup_itr: 5
   n_steps: 400
   gamma: 0.999
   actor_lr: 1e-5
@@ -58,7 +58,7 @@ train:
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-6
+    min_lr: 1e-5
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -81,7 +81,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_dql.DQLDiffusion
   # Sampling HPs
-  min_sampling_denoising_std: 0.08
+  min_sampling_denoising_std: 0.1
   randn_clip_value: 3
   #
   network_path: ${base_policy_path}

cfg/robomimic/finetune/transport/ft_idql_diffusion_mlp.yaml

@@ -49,7 +49,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 1000
+  n_train_itr: 201
   n_critic_warmup_itr: 5
   n_steps: 400
   gamma: 0.999
@@ -58,7 +58,7 @@ train:
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-6
+    min_lr: 1e-5
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -83,7 +83,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_idql.IDQLDiffusion
   # Sampling HPs
-  min_sampling_denoising_std: 0.08
+  min_sampling_denoising_std: 0.1
   randn_clip_value: 3
   #
   network_path: ${base_policy_path}

cfg/robomimic/finetune/transport/ft_ppo_diffusion_mlp.yaml

@@ -50,16 +50,16 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 1000
+  n_train_itr: 201
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999
-  actor_lr: 1e-5
+  actor_lr: 1e-4
   actor_weight_decay: 0
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-6
+    min_lr: 1e-4
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -76,7 +76,7 @@ train:
   reward_scale_const: 1.0
   gae_lambda: 0.95
   batch_size: 10000
-  update_epochs: 8
+  update_epochs: 5
   vf_coef: 0.5
   target_kl: 1
 
@@ -88,7 +88,7 @@ model:
   clip_ploss_coef_base: 0.001
   clip_ploss_coef_rate: 3
   randn_clip_value: 3
-  min_sampling_denoising_std: 0.08
+  min_sampling_denoising_std: 0.1
   min_logprob_denoising_std: 0.1
   #
   network_path: ${base_policy_path}
@@ -102,10 +102,10 @@ model:
     action_dim: ${action_dim}
   critic:
     _target_: model.common.critic.CriticObs
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/robomimic/finetune/transport/ft_ppo_diffusion_mlp_img.yaml

@@ -64,7 +64,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 500
+  n_train_itr: 201
   n_critic_warmup_itr: 2
   n_steps: 400
   gamma: 0.999
@@ -73,13 +73,13 @@ train:
   actor_lr: 1e-5
   actor_weight_decay: 0
   actor_lr_scheduler:
-    first_cycle_steps: 500
+    first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-6
+    min_lr: 1e-5
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
-    first_cycle_steps: 500
+    first_cycle_steps: 1000
     warmup_steps: 10
     min_lr: 1e-3
   save_model_freq: 100
@@ -93,19 +93,19 @@ train:
   gae_lambda: 0.95
   batch_size: 500
   logprob_batch_size: 1000
-  update_epochs: 8
+  update_epochs: 10
   vf_coef: 0.5
   target_kl: 1
 
 model:
   _target_: model.diffusion.diffusion_ppo.PPODiffusion
   # HP to tune
-  gamma_denoising: 0.9
+  gamma_denoising: 0.99
   clip_ploss_coef: 0.01
   clip_ploss_coef_base: 0.001
   clip_ploss_coef_rate: 3
   randn_clip_value: 3
-  min_sampling_denoising_std: 0.08
+  min_sampling_denoising_std: 0.1
   min_logprob_denoising_std: 0.1
   #
   use_ddim: ${use_ddim}
@@ -164,10 +164,10 @@ model:
         embed_style: embed2
         embed_norm: 0
     img_cond_steps: ${img_cond_steps}
-    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
     mlp_dims: [256, 256, 256]
     activation_type: Mish
     residual_style: True
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
   ft_denoising_steps: ${ft_denoising_steps}
   horizon_steps: ${horizon_steps}
   obs_dim: ${obs_dim}

cfg/robomimic/finetune/transport/ft_qsm_diffusion_mlp.yaml

@@ -49,7 +49,7 @@ wandb:
   run: ${now:%H-%M-%S}_${name}
 
 train:
-  n_train_itr: 1000
+  n_train_itr: 201
   n_critic_warmup_itr: 5
   n_steps: 400
   gamma: 0.999
@@ -58,7 +58,7 @@ train:
   actor_lr_scheduler:
     first_cycle_steps: 1000
     warmup_steps: 10
-    min_lr: 1e-6
+    min_lr: 1e-5
   critic_lr: 1e-3
   critic_weight_decay: 0
   critic_lr_scheduler:
@@ -81,7 +81,7 @@ train:
 model:
   _target_: model.diffusion.diffusion_qsm.QSMDiffusion
   # Sampling HPs
-  min_sampling_denoising_std: 0.08
+  min_sampling_denoising_std: 0.1
   randn_clip_value: 3
   #
   network_path: ${base_policy_path}