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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/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