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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/pretrain/lift/pre_diffusion_mlp.yaml
+1 -2
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@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 19
action_dim: 7
transition_dim: ${action_dim}
denoising_steps: 20
horizon_steps: 4
cond_steps: 1
@@ -48,7 +47,7 @@ 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/pretrain/lift/pre_diffusion_mlp_img.yaml
+1 -2
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@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 9 # proprioception only
action_dim: 7
transition_dim: ${action_dim}
denoising_steps: 100
horizon_steps: 4
cond_steps: 1
@@ -72,7 +71,7 @@ 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/pretrain/lift/pre_diffusion_unet.yaml
+1 -2
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@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 19
action_dim: 7
transition_dim: ${action_dim}
denoising_steps: 20
horizon_steps: 4
cond_steps: 1
@@ -50,7 +49,7 @@ model:
n_groups: 8
smaller_encoder: False
cond_predict_scale: True
transition_dim: ${transition_dim}
action_dim: ${action_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 19
action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
@@ -45,7 +44,7 @@ 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/robomimic/pretrain/lift/pre_gaussian_mlp_ibrl.yaml
+59
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@@ -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: ${oc.env:DPPO_LOG_DIR}/robomimic-pretrain/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
train_dataset_path: ${oc.env:DPPO_DATA_DIR}/robomimic/${env}/train.npz
seed: 42
device: cuda:0
env: lift
obs_dim: 19
action_dim: 7
horizon_steps: 1
cond_steps: 1
wandb:
entity: ${oc.env:DPPO_WANDB_ENTITY}
project: robomimic-${env}-pretrain
run: ${now:%H-%M-%S}_${name}
train:
n_epochs: 5000
batch_size: 256
learning_rate: 1e-4
weight_decay: 1e-6
lr_scheduler:
first_cycle_steps: 5000
warmup_steps: 100
min_lr: 1e-5
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]
residual_style: False
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/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml
+1 -2
View File
@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 9 # proprioception only
action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
img_cond_steps: 1
@@ -69,7 +68,7 @@ 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}
device: ${device}
cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml
+1 -2
View File
@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 19
action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
@@ -47,7 +46,7 @@ model:
learn_fixed_std: False
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/pretrain/lift/pre_gmm_mlp.yaml
+1 -2
View File
@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 19
action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
num_modes: 5
@@ -47,7 +46,7 @@ model:
num_modes: ${num_modes}
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/pretrain/lift/pre_gmm_transformer.yaml
+1 -2
View File
@@ -14,7 +14,6 @@ device: cuda:0
env: lift
obs_dim: 19
action_dim: 7
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
num_modes: 5
@@ -49,7 +48,7 @@ model:
num_modes: ${num_modes}
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}