e1ef4ca1cf
* 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
17 lines
1.7 KiB
Markdown
17 lines
1.7 KiB
Markdown
## Pre-training experiments
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**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.
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### Comparing diffusion-based RL algorithms (Sec. 5.1)
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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`.
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**Note**: In both Gym and Robomimic experiments, for the experiments in the paper we used more than enough expert demonstrations for pre-training. You can specify `+train_dataset.max_n_episodes=<number_of_episodes>` to limit the number of episodes so the pre-training is faster.
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### Comparing policy parameterizations (Sec. 5.2, 5.3)
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Robomimic configs are under `cfg/robomimic/pretrain/<env_name>/`, and the naming follows `pre_<diffusion/gaussian/gmm>_<mlp/unet/transformer>_<img?>`. Furniture-Bench configs are under `cfg/furniture/pretrain/<env_name>/`, and the naming follows `pre_<diffusion/gaussian>_<mlp/unet>`.
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### D3IL (Sec. 6)
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D3IL configs are under `cfg/d3il/pretrain/avoid_<mode>/`, and the naming follows `pre_<diffusion/gaussian/gmm>_mlp`. In the paper we manually examine the pre-trained checkpoints and pick the ones that visually match the pre-training data the best. We also tune the Gaussian and GMM policy architecture extensively for best pre-training performance. The action chunk size can be specified with `horizon_steps` and the number of denoising steps can be specified with `denoising_steps`.
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