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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/robomimic/eval/can/eval_diffusion_mlp.yaml
+2 -3
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@@ -7,7 +7,7 @@ _target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent
name: ${env_name}_eval_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-eval/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
base_policy_path: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/can/can_pre_diffusion_mlp_ta4_td20/2024-06-28_13-29-54/checkpoint/state_5000.pt # use 8000 for comparing policy parameterizations
base_policy_path:
robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
@@ -16,7 +16,6 @@ device: cuda:0
env_name: can
obs_dim: 23
action_dim: 7
transition_dim: ${action_dim}
denoising_steps: 20
cond_steps: 1
horizon_steps: 4
@@ -58,7 +57,7 @@ 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/robomimic/eval/can/eval_diffusion_mlp_img.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ device: cuda:0
env_name: can
obs_dim: 9
action_dim: 7
transition_dim: ${action_dim}
denoising_steps: 100
cond_steps: 1
img_cond_steps: 1
@@ -90,7 +89,7 @@ model:
img_cond_steps: ${img_cond_steps}
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/robomimic/eval/can/eval_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ device: cuda:0
env_name: can
obs_dim: 23
action_dim: 7
transition_dim: ${action_dim}
cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -55,6 +54,6 @@ 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/robomimic/eval/can/eval_gaussian_mlp_img.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ device: cuda:0
env_name: can
obs_dim: 9
action_dim: 7
transition_dim: ${action_dim}
cond_steps: 1
img_cond_steps: 1
horizon_steps: 4
@@ -82,6 +81,6 @@ 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}