v0.5 to main (#10)

* 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
2024-10-07 16:35:13 -04:00
parent dd14c5887c
commit e0842e71dc
267 changed files with 6769 additions and 1645 deletions
@@ -0,0 +1,66 @@
+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: ${oc.env:DPPO_LOG_DIR}/robomimic-eval/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path:
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: square
+obs_dim: 23
+action_dim: 7
+denoising_steps: 20
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+n_steps: 400  # each episode takes max_episode_steps / act_steps steps
+render_num: 0
+
+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
+
+model:
+  _target_: model.diffusion.diffusion.DiffusionModel
+  predict_epsilon: True
+  denoised_clip_value: 1.0
+  randn_clip_value: 3
+  #
+  network_path: ${base_policy_path}
+  network:
+    _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}
+  horizon_steps: ${horizon_steps}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  denoising_steps: ${denoising_steps}
+  device: ${device}
@@ -0,0 +1,60 @@
+defaults:
+  - _self_
+hydra:
+  run:
+    dir: ${logdir}
+_target_: agent.eval.eval_gaussian_agent.EvalGaussianAgent
+
+name: ${env_name}_eval_gaussian_mlp_ta${horizon_steps}
+logdir: ${oc.env:DPPO_LOG_DIR}/robomimic-eval/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
+base_policy_path:
+robomimic_env_cfg_path: cfg/robomimic/env_meta/${env_name}.json
+normalization_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env_name}/normalization.npz
+
+seed: 42
+device: cuda:0
+env_name: square
+obs_dim: 23
+action_dim: 7
+cond_steps: 1
+horizon_steps: 1
+act_steps: 1
+
+n_steps: 400  # each episode takes max_episode_steps / act_steps steps
+render_num: 0
+
+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
+
+model:
+  _target_: model.common.gaussian.GaussianModel
+  randn_clip_value: 3
+  #
+  network_path: ${base_policy_path}
+  network:
+    _target_: model.common.mlp_gaussian.Gaussian_MLP
+    mlp_dims: [1024, 1024, 1024]
+    activation_type: ReLU
+    use_layernorm: true
+    fixed_std: 0.1
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
+    horizon_steps: ${horizon_steps}
+    
+  horizon_steps: ${horizon_steps}
+  device: ${device}