{ "algo_name": "diffusion_policy", "experiment": { "name": "exp3_uniskill_policy_pretrained_isd/seed_0", "validate": false, "logging": { "terminal_output_to_txt": true, "log_tb": true, "log_wandb": false, "wandb_proj_name": "uniskill" }, "mse": { "enabled": false, "every_n_epochs": 50, "on_save_ckpt": true, "num_samples": 20, "visualize": true }, "save": { "enabled": true, "every_n_seconds": null, "every_n_epochs": 100, "epochs": [], "on_best_validation": false, "on_best_rollout_return": false, "on_best_rollout_success_rate": false }, "epoch_every_n_steps": 100, "validation_epoch_every_n_steps": 10, "env": null, "additional_envs": null, "render": false, "render_video": true, "keep_all_videos": false, "video_skip": 5, "rollout": { "enabled": false, "n": 10, "horizon": 200, "rate": 100, "warmstart": 0, "terminate_on_success": true, "batched": false, "num_batch_envs": 5, "idm_path": null }, "env_meta_update_dict": {}, "ckpt_path": null }, "train": { "data": [ { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/bowl_in_plate.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/close_drawer.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/empty_basket.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/open_lid.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/pick_cube.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/press_toaster.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/push_cube.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/stack_cups.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/toys_in_basket.hdf5", "horizon": 500, "do_eval": false }, { "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/toys_in_drawer.hdf5", "horizon": 500, "do_eval": false } ], "output_dir": "${ROBOREEL_CKPT}/nd/uniskill_idm_policy_pretrained_isd/train", "num_data_workers": 16, "hdf5_cache_mode": "low_dim", "hdf5_use_swmr": true, "hdf5_load_next_obs": false, "hdf5_normalize_obs": false, "hdf5_filter_key": null, "hdf5_validation_filter_key": null, "seq_length": 15, "pad_seq_length": true, "frame_stack": 2, "pad_frame_stack": true, "dataset_keys": [ "actions" ], "action_keys": [ "actions" ], "action_config": { "actions": { "normalization": "min_max" }, "action_dict/abs_pos": { "normalization": "min_max" }, "action_dict/abs_rot_axis_angle": { "normalization": "min_max", "format": "rot_axis_angle" }, "action_dict/abs_rot_6d": { "normalization": null, "format": "rot_6d" }, "action_dict/rel_pos": { "normalization": null }, "action_dict/rel_rot_axis_angle": { "normalization": null, "format": "rot_axis_angle" }, "action_dict/rel_rot_6d": { "normalization": null, "format": "rot_6d" }, "action_dict/gripper": { "normalization": null }, "action_dict/base_mode": { "normalization": null } }, "goal_mode": "skill", "skill_dir": "${ROBOREEL_DATA}/UniSkill_skill_representations/pretrained_robot/without_distraction", "skill_aug": true, "aug_num": 5, "cuda": true, "batch_size": 256, "num_epochs": 1000, "seed": 0, "max_grad_norm": null, "data_format": "robomimic", "shuffled_obs_key_groups": null }, "algo": { "optim_params": { "policy": { "learning_rate": { "initial": 0.0001, "decay_factor": 0.1, "epoch_schedule": [], "scheduler_type": "constant" }, "regularization": { "L2": 0.0 } } }, "horizon": { "observation_horizon": 2, "action_horizon": 8, "prediction_horizon": 16 }, "subgoal": { "enabled": false, "subgoal_dim": 64 }, "skill": { "enabled": true, "skill_dim": 64, "dropout": false, "dropout_rate": 0.2 }, "lang": { "enabled": false, "lang_dim": 512 }, "unet": { "enabled": true, "diffusion_step_embed_dim": 256, "down_dims": [ 256, 512, 1024 ], "kernel_size": 5, "n_groups": 8 }, "ema": { "enabled": true, "power": 0.75 }, "language_conditioned": false, "ddpm": { "enabled": false, "num_train_timesteps": 100, "num_inference_timesteps": 100, "beta_schedule": "squaredcos_cap_v2", "clip_sample": true, "prediction_type": "epsilon" }, "ddim": { "enabled": true, "num_train_timesteps": 100, "num_inference_timesteps": 10, "beta_schedule": "squaredcos_cap_v2", "clip_sample": true, "set_alpha_to_one": true, "steps_offset": 0, "prediction_type": "epsilon" } }, "observation": { "modalities": { "obs": { "low_dim": [ "gripper_states", "joint_states" ], "rgb": [ "agentview_rgb", "eye_in_hand_rgb" ], "depth": [], "scan": [] }, "goal": { "low_dim": [], "rgb": [], "depth": [], "scan": [] } }, "encoder": { "low_dim": { "core_class": null, "core_kwargs": {}, "obs_randomizer_class": null, "obs_randomizer_kwargs": {} }, "rgb": { "core_class": "VisualCore", "core_kwargs": { "feature_dimension": 64, "backbone_class": "ResNet18Conv", "backbone_kwargs": { "pretrained": false, "input_coord_conv": false }, "pool_class": "SpatialSoftmax", "pool_kwargs": { "num_kp": 32, "learnable_temperature": false, "temperature": 1.0, "noise_std": 0.0 } }, "obs_randomizer_class": "CropRandomizer", "obs_randomizer_kwargs": { "crop_height": 116, "crop_width": 116, "num_crops": 1, "pos_enc": false } }, "depth": { "core_class": "VisualCore", "core_kwargs": {}, "obs_randomizer_class": null, "obs_randomizer_kwargs": {} }, "scan": { "core_class": "ScanCore", "core_kwargs": {}, "obs_randomizer_class": null, "obs_randomizer_kwargs": {} } } }, "meta": { "hp_base_config_file": "robomimic/exps/templates/diffusion_policy.json", "hp_keys": [ "seed", "ds", "ac_keys", "obsrandargs" ], "hp_values": [ 0, "lfo_benchmark", "abs_acs", { "crop_height": 116, "crop_width": 116, "num_crops": 1, "pos_enc": false } ] } }