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More frequent EMA update (#20)

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* move ema update within pretraining epoch

* update pretraining ema configs

* add lift and can epoch 8000 checkpoint url

* add note about EMA issue in pretraining instruction
This commit is contained in:
Allen Z. Ren
2024-11-06 20:42:31 -05:00
committed by GitHub
parent dc8e0c9edc
commit e1ef4ca1cf
91 changed files with 183 additions and 171 deletions
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cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/lamp_low/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/lamp_med/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/one_leg_low/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/one_leg_med/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/round_table_low/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml
+2 -2
View File
@@ -35,8 +35,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/furniture/pretrain/round_table_med/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -34,8 +34,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
first_cycle_steps: 3000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:
cfg/gym/pretrain/halfcheetah-medium-v2/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -31,8 +31,8 @@ train:
first_cycle_steps: 1000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:
cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
first_cycle_steps: 3000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:
cfg/gym/pretrain/hopper-medium-v2/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -31,8 +31,8 @@ train:
first_cycle_steps: 1000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:
cfg/gym/pretrain/kitchen-complete-v0/pre_diffusion_mlp.yaml
+3 -3
View File
@@ -32,9 +32,9 @@ train:
first_cycle_steps: 8000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
save_model_freq: 1000
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/gym/pretrain/kitchen-complete-v0/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/gym/pretrain/kitchen-mixed-v0/pre_diffusion_mlp.yaml
+3 -3
View File
@@ -32,9 +32,9 @@ train:
first_cycle_steps: 8000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
save_model_freq: 1000
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/gym/pretrain/kitchen-mixed-v0/pre_gaussian_mlp.yaml
+3 -3
View File
@@ -31,9 +31,9 @@ train:
first_cycle_steps: 5000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
save_model_freq: 1000
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/gym/pretrain/kitchen-partial-v0/pre_diffusion_mlp.yaml
+3 -3
View File
@@ -32,9 +32,9 @@ train:
first_cycle_steps: 8000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
save_model_freq: 1000
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/gym/pretrain/kitchen-partial-v0/pre_gaussian_mlp.yaml
+3 -3
View File
@@ -31,9 +31,9 @@ train:
first_cycle_steps: 5000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
save_model_freq: 1000
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
first_cycle_steps: 3000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:
cfg/gym/pretrain/walker2d-medium-v2/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -31,8 +31,8 @@ train:
first_cycle_steps: 3000
warmup_steps: 1
min_lr: 1e-4
epoch_start_ema: 10
update_ema_freq: 5
epoch_start_ema: 20
update_ema_freq: 1
save_model_freq: 100
model:
cfg/pretraining.md
+2
View File
@@ -1,5 +1,7 @@
## Pre-training experiments
**Update, Nov 6 2024**: we fixed the issue of EMA update being too infrequent causing slow pre-training. Now the number of epochs needed for pre-training can be much slower than those used in the configs. We recommend training with fewer epochs and testing the early checkpoints.
### Comparing diffusion-based RL algorithms (Sec. 5.1)
Gym configs are under `cfg/gym/pretrain/<env_name>/`, and the config name is `pre_diffusion_mlp`. Robomimic configs are under `cfg/robomimic/pretrain/<env_name>/`, and the name is also `pre_diffusion_mlp`.
cfg/robomimic/finetune/can/ibrl_mlp.yaml
+1 -1
View File
@@ -62,7 +62,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000
cfg/robomimic/finetune/can/ibrl_mlp_ph.yaml
+1 -1
View File
@@ -62,7 +62,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000
cfg/robomimic/finetune/square/ibrl_mlp.yaml
+1 -1
View File
@@ -62,7 +62,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000
cfg/robomimic/finetune/square/ibrl_mlp_ph.yaml
+1 -1
View File
@@ -62,7 +62,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000
cfg/robomimic/pretrain/can/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/can/pre_diffusion_mlp_img.yaml
+1 -1
View File
@@ -43,7 +43,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/can/pre_diffusion_mlp_ta1_ph.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/can/pre_diffusion_unet.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/can/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/can/pre_gaussian_mlp_ibrl.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/can/pre_gaussian_mlp_img.yaml
+1 -1
View File
@@ -42,7 +42,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/can/pre_gaussian_mlp_ta1_ph.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/can/pre_gaussian_transformer.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/can/pre_gmm_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/pretrain/can/pre_gmm_transformer.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/pretrain/lift/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/lift/pre_diffusion_mlp_img.yaml
+1 -1
View File
@@ -43,7 +43,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/lift/pre_diffusion_unet.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/lift/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/lift/pre_gaussian_mlp_img.yaml
+1 -1
View File
@@ -42,7 +42,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/lift/pre_gaussian_transformer.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/lift/pre_gmm_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/pretrain/lift/pre_gmm_transformer.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/pretrain/square/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/square/pre_diffusion_mlp_img.yaml
+1 -1
View File
@@ -43,7 +43,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/square/pre_diffusion_mlp_ta1_ph.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/square/pre_diffusion_unet.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/square/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/square/pre_gaussian_mlp_ibrl.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-4
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/square/pre_gaussian_mlp_img.yaml
+1 -1
View File
@@ -42,7 +42,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/square/pre_gaussian_mlp_ta1_ph.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/square/pre_gaussian_transformer.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/square/pre_gmm_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/pretrain/square/pre_gmm_transformer.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/pretrain/transport/pre_diffusion_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/transport/pre_diffusion_mlp_img.yaml
+1 -1
View File
@@ -43,7 +43,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/transport/pre_diffusion_unet.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.diffusion.diffusion.DiffusionModel
cfg/robomimic/pretrain/transport/pre_gaussian_mlp.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/transport/pre_gaussian_mlp_img.yaml
+1 -1
View File
@@ -42,7 +42,7 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
update_ema_freq: 1
save_model_freq: 500
model:
cfg/robomimic/pretrain/transport/pre_gaussian_transformer.yaml
+2 -2
View File
@@ -32,8 +32,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gaussian.GaussianModel
cfg/robomimic/pretrain/transport/pre_gmm_mlp.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/pretrain/transport/pre_gmm_transformer.yaml
+2 -2
View File
@@ -33,8 +33,8 @@ train:
warmup_steps: 100
min_lr: 1e-5
epoch_start_ema: 20
update_ema_freq: 10
save_model_freq: 1000
update_ema_freq: 1
save_model_freq: 500
model:
_target_: model.common.gmm.GMMModel
cfg/robomimic/scratch/can/rlpd_mlp.yaml
+1 -1
View File
@@ -61,7 +61,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000
cfg/robomimic/scratch/can/rlpd_mlp_ph.yaml
+1 -1
View File
@@ -61,7 +61,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000
cfg/robomimic/scratch/square/rlpd_mlp.yaml
+1 -1
View File
@@ -61,7 +61,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000
cfg/robomimic/scratch/square/rlpd_mlp_ph.yaml
+1 -1
View File
@@ -61,7 +61,7 @@ train:
first_cycle_steps: 1000
warmup_steps: 10
min_lr: 1e-4
save_model_freq: 100000
save_model_freq: 50000
val_freq: 10000
render:
freq: 10000