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v0.5 to main (#10)

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* v0.5 (#9)

* update idql configs

* update awr configs

* update dipo configs

* update qsm configs

* update dqm configs

* update project version to 0.5.0
This commit is contained in:
Allen Z. Ren
2024-10-07 16:35:13 -04:00
committed by GitHub
parent dd14c5887c
commit e0842e71dc
267 changed files with 6769 additions and 1645 deletions
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cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 8
cond_steps: 1
@@ -52,7 +51,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 16
cond_steps: 1
@@ -54,7 +53,7 @@ model:
cond_predict_scale: True
groupnorm_eps: 1e-4 # not important
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
horizon_steps: 8
cond_steps: 1
@@ -49,7 +48,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 8
cond_steps: 1
@@ -52,7 +51,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 16
cond_steps: 1
@@ -53,7 +52,7 @@ model:
smaller_encoder: False
cond_predict_scale: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
horizon_steps: 8
cond_steps: 1
@@ -49,7 +48,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 58
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 8
cond_steps: 1
@@ -52,7 +51,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 58
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 16
cond_steps: 1
@@ -54,7 +53,7 @@ model:
cond_predict_scale: True
groupnorm_eps: 1e-4 # not important
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 58
action_dim: 10
transition_dim: ${action_dim}
horizon_steps: 8
cond_steps: 1
@@ -49,7 +48,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 58
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 8
cond_steps: 1
@@ -52,7 +51,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 58
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 16
cond_steps: 1
@@ -53,7 +52,7 @@ model:
smaller_encoder: False
cond_predict_scale: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 58
action_dim: 10
transition_dim: ${action_dim}
horizon_steps: 8
cond_steps: 1
@@ -49,7 +48,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 8
cond_steps: 1
@@ -52,7 +51,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 16
cond_steps: 1
@@ -53,7 +52,7 @@ model:
smaller_encoder: False
cond_predict_scale: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: low
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
horizon_steps: 8
cond_steps: 1
@@ -49,7 +48,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 8
cond_steps: 1
@@ -52,7 +51,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 16
cond_steps: 1
@@ -53,7 +52,7 @@ model:
smaller_encoder: False
cond_predict_scale: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ randomness: med
env: ${task}_${randomness}_dim
obs_dim: 44
action_dim: 10
transition_dim: ${action_dim}
horizon_steps: 8
cond_steps: 1
@@ -49,7 +48,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}