Add files using upload-large-folder tool
Browse files- vac_post_vis/action_stats.json +297 -0
- vac_post_vis/best.pth +3 -0
- vac_post_vis/config.json +195 -0
- vac_post_vis/dataset_summary.json +2032 -0
- vac_post_vis/last.pth +3 -0
- vac_post_vis_wrench/action_stats.json +297 -0
- vac_post_vis_wrench/best.pth +3 -0
- vac_post_vis_wrench/config.json +197 -0
- vac_post_vis_wrench/dataset_summary.json +2032 -0
- vac_post_vis_wrench/last.pth +3 -0
- vac_post_vis_wrench_state/action_stats.json +297 -0
- vac_post_vis_wrench_state/best.pth +3 -0
- vac_post_vis_wrench_state/config.json +198 -0
- vac_post_vis_wrench_state/dataset_summary.json +2032 -0
- vac_post_vis_wrench_state/last.pth +3 -0
- vac_pre_vis/action_stats.json +311 -0
- vac_pre_vis/best.pth +3 -0
- vac_pre_vis/config.json +195 -0
- vac_pre_vis/dataset_summary.json +2032 -0
- vac_pre_vis/last.pth +3 -0
- vac_pre_vis_wrench/action_stats.json +311 -0
- vac_pre_vis_wrench/best.pth +3 -0
- vac_pre_vis_wrench/config.json +197 -0
- vac_pre_vis_wrench/dataset_summary.json +2032 -0
- vac_pre_vis_wrench/last.pth +3 -0
- vac_pre_vis_wrench_state/action_stats.json +311 -0
- vac_pre_vis_wrench_state/best.pth +3 -0
- vac_pre_vis_wrench_state/config.json +198 -0
- vac_pre_vis_wrench_state/dataset_summary.json +2032 -0
- vac_pre_vis_wrench_state/last.pth +3 -0
vac_post_vis/action_stats.json
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{
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| 293 |
+
"image_size": [
|
| 294 |
+
84,
|
| 295 |
+
84
|
| 296 |
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]
|
| 297 |
+
}
|
vac_post_vis/best.pth
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:9cb2858908bff9d02175253f1a3e8e928ce40fdc006021ff4032fe81823d98dc
|
| 3 |
+
size 1252482813
|
vac_post_vis/config.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "diffusion_policy",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "vac_post_vis",
|
| 5 |
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"validate": true,
|
| 6 |
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"logging": {
|
| 7 |
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"terminal_output_to_txt": false,
|
| 8 |
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"log_tb": true,
|
| 9 |
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"log_wandb": false,
|
| 10 |
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"wandb_proj_name": "debug"
|
| 11 |
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},
|
| 12 |
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"save": {
|
| 13 |
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"enabled": true,
|
| 14 |
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"every_n_seconds": null,
|
| 15 |
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"every_n_epochs": 50,
|
| 16 |
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"epochs": [],
|
| 17 |
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"on_best_validation": true,
|
| 18 |
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"on_best_rollout_return": false,
|
| 19 |
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"on_best_rollout_success_rate": false
|
| 20 |
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},
|
| 21 |
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"epoch_every_n_steps": 100,
|
| 22 |
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"validation_epoch_every_n_steps": 10,
|
| 23 |
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"env": null,
|
| 24 |
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"additional_envs": null,
|
| 25 |
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"render": false,
|
| 26 |
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"render_video": false,
|
| 27 |
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"keep_all_videos": false,
|
| 28 |
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"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
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"enabled": false,
|
| 31 |
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"n": 0,
|
| 32 |
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"horizon": 50,
|
| 33 |
+
"rate": 50,
|
| 34 |
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"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
},
|
| 37 |
+
"env_meta_update_dict": {},
|
| 38 |
+
"ckpt_path": null
|
| 39 |
+
},
|
| 40 |
+
"train": {
|
| 41 |
+
"data": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_post_vis/vac_post_vis.hdf5",
|
| 42 |
+
"output_dir": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_post_vis/robomimic_runs",
|
| 43 |
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"normalize_weights_by_ds_size": false,
|
| 44 |
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"num_data_workers": 0,
|
| 45 |
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"hdf5_cache_mode": "all",
|
| 46 |
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"hdf5_use_swmr": true,
|
| 47 |
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"hdf5_load_next_obs": false,
|
| 48 |
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"hdf5_normalize_obs": false,
|
| 49 |
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"hdf5_filter_key": "train",
|
| 50 |
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"hdf5_validation_filter_key": "valid",
|
| 51 |
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"seq_length": 8,
|
| 52 |
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"pad_seq_length": true,
|
| 53 |
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"frame_stack": 2,
|
| 54 |
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"pad_frame_stack": true,
|
| 55 |
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"dataset_keys": [
|
| 56 |
+
"actions",
|
| 57 |
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"rewards",
|
| 58 |
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"dones"
|
| 59 |
+
],
|
| 60 |
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"action_keys": [
|
| 61 |
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"actions"
|
| 62 |
+
],
|
| 63 |
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"action_config": {
|
| 64 |
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"actions": {
|
| 65 |
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"normalization": "min_max"
|
| 66 |
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}
|
| 67 |
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},
|
| 68 |
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"goal_mode": null,
|
| 69 |
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"cuda": true,
|
| 70 |
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"batch_size": 16,
|
| 71 |
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"num_epochs": 300,
|
| 72 |
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"seed": 42,
|
| 73 |
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"max_grad_norm": null
|
| 74 |
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},
|
| 75 |
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"algo": {
|
| 76 |
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"optim_params": {
|
| 77 |
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"policy": {
|
| 78 |
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"optimizer_type": "adamw",
|
| 79 |
+
"learning_rate": {
|
| 80 |
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"initial": 0.0001,
|
| 81 |
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"decay_factor": 0.1,
|
| 82 |
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"step_every_batch": true,
|
| 83 |
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"scheduler_type": "cosine",
|
| 84 |
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"num_cycles": 0.5,
|
| 85 |
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"warmup_steps": 500,
|
| 86 |
+
"epoch_schedule": []
|
| 87 |
+
},
|
| 88 |
+
"regularization": {
|
| 89 |
+
"L2": 1e-06
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
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"horizon": {
|
| 94 |
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"observation_horizon": 2,
|
| 95 |
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"action_horizon": 4,
|
| 96 |
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"prediction_horizon": 8
|
| 97 |
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},
|
| 98 |
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"unet": {
|
| 99 |
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"enabled": true,
|
| 100 |
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"diffusion_step_embed_dim": 256,
|
| 101 |
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"down_dims": [
|
| 102 |
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128,
|
| 103 |
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256,
|
| 104 |
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512
|
| 105 |
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],
|
| 106 |
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"kernel_size": 5,
|
| 107 |
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"n_groups": 8
|
| 108 |
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},
|
| 109 |
+
"ema": {
|
| 110 |
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"enabled": true,
|
| 111 |
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"power": 0.75
|
| 112 |
+
},
|
| 113 |
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"ddpm": {
|
| 114 |
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"enabled": true,
|
| 115 |
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"num_train_timesteps": 50,
|
| 116 |
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"num_inference_timesteps": 50,
|
| 117 |
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"beta_schedule": "squaredcos_cap_v2",
|
| 118 |
+
"clip_sample": true,
|
| 119 |
+
"prediction_type": "epsilon"
|
| 120 |
+
},
|
| 121 |
+
"ddim": {
|
| 122 |
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"enabled": false,
|
| 123 |
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"num_train_timesteps": 50,
|
| 124 |
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"num_inference_timesteps": 10,
|
| 125 |
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"beta_schedule": "squaredcos_cap_v2",
|
| 126 |
+
"clip_sample": true,
|
| 127 |
+
"set_alpha_to_one": true,
|
| 128 |
+
"steps_offset": 0,
|
| 129 |
+
"prediction_type": "epsilon"
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"observation": {
|
| 133 |
+
"modalities": {
|
| 134 |
+
"obs": {
|
| 135 |
+
"low_dim": [],
|
| 136 |
+
"rgb": [
|
| 137 |
+
"front_rgb"
|
| 138 |
+
],
|
| 139 |
+
"depth": [],
|
| 140 |
+
"scan": []
|
| 141 |
+
},
|
| 142 |
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"goal": {
|
| 143 |
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"low_dim": [],
|
| 144 |
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"rgb": [],
|
| 145 |
+
"depth": [],
|
| 146 |
+
"scan": []
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
"encoder": {
|
| 150 |
+
"low_dim": {
|
| 151 |
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"core_class": null,
|
| 152 |
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"core_kwargs": {},
|
| 153 |
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"obs_randomizer_class": null,
|
| 154 |
+
"obs_randomizer_kwargs": {}
|
| 155 |
+
},
|
| 156 |
+
"rgb": {
|
| 157 |
+
"core_class": "VisualCore",
|
| 158 |
+
"core_kwargs": {
|
| 159 |
+
"backbone_class": "ResNet18Conv",
|
| 160 |
+
"backbone_kwargs": {
|
| 161 |
+
"pretrained": false,
|
| 162 |
+
"input_coord_conv": false
|
| 163 |
+
},
|
| 164 |
+
"pool_class": "SpatialSoftmax",
|
| 165 |
+
"pool_kwargs": {
|
| 166 |
+
"num_kp": 32,
|
| 167 |
+
"learnable_temperature": false,
|
| 168 |
+
"temperature": 1.0,
|
| 169 |
+
"noise_std": 0.0
|
| 170 |
+
},
|
| 171 |
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"feature_dimension": 64
|
| 172 |
+
},
|
| 173 |
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"obs_randomizer_class": null,
|
| 174 |
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"obs_randomizer_kwargs": {}
|
| 175 |
+
},
|
| 176 |
+
"depth": {
|
| 177 |
+
"core_class": "VisualCore",
|
| 178 |
+
"core_kwargs": {},
|
| 179 |
+
"obs_randomizer_class": null,
|
| 180 |
+
"obs_randomizer_kwargs": {}
|
| 181 |
+
},
|
| 182 |
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"scan": {
|
| 183 |
+
"core_class": "ScanCore",
|
| 184 |
+
"core_kwargs": {},
|
| 185 |
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"obs_randomizer_class": null,
|
| 186 |
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"obs_randomizer_kwargs": {}
|
| 187 |
+
}
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
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"meta": {
|
| 191 |
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"hp_base_config_file": null,
|
| 192 |
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"hp_keys": [],
|
| 193 |
+
"hp_values": []
|
| 194 |
+
}
|
| 195 |
+
}
|
vac_post_vis/dataset_summary.json
ADDED
|
@@ -0,0 +1,2032 @@
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"path": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_post_vis/vac_post_vis.hdf5",
|
| 3 |
+
"total_frames": 145712,
|
| 4 |
+
"train_episodes": 172,
|
| 5 |
+
"valid_episodes": 30,
|
| 6 |
+
"train_source_episodes": [
|
| 7 |
+
0,
|
| 8 |
+
1,
|
| 9 |
+
2,
|
| 10 |
+
3,
|
| 11 |
+
4,
|
| 12 |
+
5,
|
| 13 |
+
6,
|
| 14 |
+
7,
|
| 15 |
+
8,
|
| 16 |
+
9,
|
| 17 |
+
10,
|
| 18 |
+
11,
|
| 19 |
+
12,
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{
|
| 1996 |
+
"hdf5_key": "ep_00198",
|
| 1997 |
+
"source_episode_index": 198,
|
| 1998 |
+
"split": "valid",
|
| 1999 |
+
"num_samples": 557,
|
| 2000 |
+
"action_dim": 7,
|
| 2001 |
+
"obs_mode": "vision",
|
| 2002 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2003 |
+
},
|
| 2004 |
+
{
|
| 2005 |
+
"hdf5_key": "ep_00199",
|
| 2006 |
+
"source_episode_index": 199,
|
| 2007 |
+
"split": "valid",
|
| 2008 |
+
"num_samples": 522,
|
| 2009 |
+
"action_dim": 7,
|
| 2010 |
+
"obs_mode": "vision",
|
| 2011 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2012 |
+
},
|
| 2013 |
+
{
|
| 2014 |
+
"hdf5_key": "ep_00200",
|
| 2015 |
+
"source_episode_index": 200,
|
| 2016 |
+
"split": "valid",
|
| 2017 |
+
"num_samples": 581,
|
| 2018 |
+
"action_dim": 7,
|
| 2019 |
+
"obs_mode": "vision",
|
| 2020 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2021 |
+
},
|
| 2022 |
+
{
|
| 2023 |
+
"hdf5_key": "ep_00201",
|
| 2024 |
+
"source_episode_index": 201,
|
| 2025 |
+
"split": "valid",
|
| 2026 |
+
"num_samples": 574,
|
| 2027 |
+
"action_dim": 7,
|
| 2028 |
+
"obs_mode": "vision",
|
| 2029 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2030 |
+
}
|
| 2031 |
+
]
|
| 2032 |
+
}
|
vac_post_vis/last.pth
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:7769b00bc8f0cab6c58c1ce953c8262ec5f199745864625f9d29cc76b5238e33
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| 3 |
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size 1252378845
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vac_post_vis_wrench/action_stats.json
ADDED
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@@ -0,0 +1,297 @@
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| 1 |
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{
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|
| 271 |
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| 272 |
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|
| 273 |
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|
| 274 |
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|
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|
vac_post_vis_wrench/best.pth
ADDED
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version https://git-lfs.github.com/spec/v1
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size 1255236653
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vac_post_vis_wrench/config.json
ADDED
|
@@ -0,0 +1,197 @@
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"algo_name": "diffusion_policy",
|
| 3 |
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"experiment": {
|
| 4 |
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"name": "vac_post_vis_wrench",
|
| 5 |
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"validate": true,
|
| 6 |
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|
| 7 |
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|
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|
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|
| 11 |
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|
| 13 |
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|
| 14 |
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|
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|
| 16 |
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|
| 17 |
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|
| 18 |
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"on_best_rollout_return": false,
|
| 19 |
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"on_best_rollout_success_rate": false
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"env": null,
|
| 24 |
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"additional_envs": null,
|
| 25 |
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"render": false,
|
| 26 |
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|
| 27 |
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"keep_all_videos": false,
|
| 28 |
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"video_skip": 5,
|
| 29 |
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"rollout": {
|
| 30 |
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|
| 31 |
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"n": 0,
|
| 32 |
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"horizon": 50,
|
| 33 |
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"rate": 50,
|
| 34 |
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"warmstart": 0,
|
| 35 |
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"terminate_on_success": true
|
| 36 |
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},
|
| 37 |
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"env_meta_update_dict": {},
|
| 38 |
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"ckpt_path": null
|
| 39 |
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},
|
| 40 |
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"train": {
|
| 41 |
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"data": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_post_vis_wrench/vac_post_vis_wrench.hdf5",
|
| 42 |
+
"output_dir": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_post_vis_wrench/robomimic_runs",
|
| 43 |
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"normalize_weights_by_ds_size": false,
|
| 44 |
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"num_data_workers": 0,
|
| 45 |
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"hdf5_cache_mode": "all",
|
| 46 |
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"hdf5_use_swmr": true,
|
| 47 |
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"hdf5_load_next_obs": false,
|
| 48 |
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"hdf5_normalize_obs": false,
|
| 49 |
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"hdf5_filter_key": "train",
|
| 50 |
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"hdf5_validation_filter_key": "valid",
|
| 51 |
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"seq_length": 8,
|
| 52 |
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"pad_seq_length": true,
|
| 53 |
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"frame_stack": 2,
|
| 54 |
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"pad_frame_stack": true,
|
| 55 |
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"dataset_keys": [
|
| 56 |
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"actions",
|
| 57 |
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"rewards",
|
| 58 |
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|
| 59 |
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],
|
| 60 |
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"action_keys": [
|
| 61 |
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"actions"
|
| 62 |
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],
|
| 63 |
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"action_config": {
|
| 64 |
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"actions": {
|
| 65 |
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"normalization": "min_max"
|
| 66 |
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}
|
| 67 |
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},
|
| 68 |
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"goal_mode": null,
|
| 69 |
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"cuda": true,
|
| 70 |
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"batch_size": 16,
|
| 71 |
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|
| 72 |
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"seed": 42,
|
| 73 |
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|
| 74 |
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},
|
| 75 |
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"algo": {
|
| 76 |
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"optim_params": {
|
| 77 |
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"policy": {
|
| 78 |
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"optimizer_type": "adamw",
|
| 79 |
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"learning_rate": {
|
| 80 |
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"initial": 0.0001,
|
| 81 |
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"decay_factor": 0.1,
|
| 82 |
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"step_every_batch": true,
|
| 83 |
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"scheduler_type": "cosine",
|
| 84 |
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|
| 85 |
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"warmup_steps": 500,
|
| 86 |
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"epoch_schedule": []
|
| 87 |
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},
|
| 88 |
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"regularization": {
|
| 89 |
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"L2": 1e-06
|
| 90 |
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}
|
| 91 |
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}
|
| 92 |
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},
|
| 93 |
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"horizon": {
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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},
|
| 98 |
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"unet": {
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| 99 |
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"enabled": true,
|
| 100 |
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"diffusion_step_embed_dim": 256,
|
| 101 |
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| 103 |
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| 104 |
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|
| 105 |
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],
|
| 106 |
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|
| 107 |
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"n_groups": 8
|
| 108 |
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},
|
| 109 |
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"ema": {
|
| 110 |
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"enabled": true,
|
| 111 |
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"power": 0.75
|
| 112 |
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},
|
| 113 |
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"ddpm": {
|
| 114 |
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"enabled": true,
|
| 115 |
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|
| 116 |
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|
| 117 |
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"beta_schedule": "squaredcos_cap_v2",
|
| 118 |
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"clip_sample": true,
|
| 119 |
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"prediction_type": "epsilon"
|
| 120 |
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},
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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"set_alpha_to_one": true,
|
| 128 |
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"steps_offset": 0,
|
| 129 |
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"prediction_type": "epsilon"
|
| 130 |
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}
|
| 131 |
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},
|
| 132 |
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"observation": {
|
| 133 |
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"modalities": {
|
| 134 |
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"obs": {
|
| 135 |
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|
| 136 |
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"wrench"
|
| 137 |
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],
|
| 138 |
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"rgb": [
|
| 139 |
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"front_rgb"
|
| 140 |
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],
|
| 141 |
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"depth": [],
|
| 142 |
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"scan": []
|
| 143 |
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},
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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"depth": [],
|
| 148 |
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"scan": []
|
| 149 |
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}
|
| 150 |
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},
|
| 151 |
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"encoder": {
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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"core_class": "VisualCore",
|
| 160 |
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"core_kwargs": {
|
| 161 |
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"backbone_class": "ResNet18Conv",
|
| 162 |
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"backbone_kwargs": {
|
| 163 |
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"pretrained": false,
|
| 164 |
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"input_coord_conv": false
|
| 165 |
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},
|
| 166 |
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"pool_class": "SpatialSoftmax",
|
| 167 |
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"pool_kwargs": {
|
| 168 |
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"num_kp": 32,
|
| 169 |
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"learnable_temperature": false,
|
| 170 |
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"temperature": 1.0,
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
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|
| 176 |
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|
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
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| 184 |
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|
| 185 |
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|
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|
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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"hp_values": []
|
| 196 |
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|
| 197 |
+
}
|
vac_post_vis_wrench/dataset_summary.json
ADDED
|
@@ -0,0 +1,2032 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1948 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1949 |
+
},
|
| 1950 |
+
{
|
| 1951 |
+
"hdf5_key": "ep_00193",
|
| 1952 |
+
"source_episode_index": 193,
|
| 1953 |
+
"split": "valid",
|
| 1954 |
+
"num_samples": 780,
|
| 1955 |
+
"action_dim": 7,
|
| 1956 |
+
"obs_mode": "vision_wrench",
|
| 1957 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1958 |
+
},
|
| 1959 |
+
{
|
| 1960 |
+
"hdf5_key": "ep_00194",
|
| 1961 |
+
"source_episode_index": 194,
|
| 1962 |
+
"split": "valid",
|
| 1963 |
+
"num_samples": 853,
|
| 1964 |
+
"action_dim": 7,
|
| 1965 |
+
"obs_mode": "vision_wrench",
|
| 1966 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1967 |
+
},
|
| 1968 |
+
{
|
| 1969 |
+
"hdf5_key": "ep_00195",
|
| 1970 |
+
"source_episode_index": 195,
|
| 1971 |
+
"split": "valid",
|
| 1972 |
+
"num_samples": 710,
|
| 1973 |
+
"action_dim": 7,
|
| 1974 |
+
"obs_mode": "vision_wrench",
|
| 1975 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1976 |
+
},
|
| 1977 |
+
{
|
| 1978 |
+
"hdf5_key": "ep_00196",
|
| 1979 |
+
"source_episode_index": 196,
|
| 1980 |
+
"split": "valid",
|
| 1981 |
+
"num_samples": 855,
|
| 1982 |
+
"action_dim": 7,
|
| 1983 |
+
"obs_mode": "vision_wrench",
|
| 1984 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1985 |
+
},
|
| 1986 |
+
{
|
| 1987 |
+
"hdf5_key": "ep_00197",
|
| 1988 |
+
"source_episode_index": 197,
|
| 1989 |
+
"split": "valid",
|
| 1990 |
+
"num_samples": 707,
|
| 1991 |
+
"action_dim": 7,
|
| 1992 |
+
"obs_mode": "vision_wrench",
|
| 1993 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1994 |
+
},
|
| 1995 |
+
{
|
| 1996 |
+
"hdf5_key": "ep_00198",
|
| 1997 |
+
"source_episode_index": 198,
|
| 1998 |
+
"split": "valid",
|
| 1999 |
+
"num_samples": 557,
|
| 2000 |
+
"action_dim": 7,
|
| 2001 |
+
"obs_mode": "vision_wrench",
|
| 2002 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2003 |
+
},
|
| 2004 |
+
{
|
| 2005 |
+
"hdf5_key": "ep_00199",
|
| 2006 |
+
"source_episode_index": 199,
|
| 2007 |
+
"split": "valid",
|
| 2008 |
+
"num_samples": 522,
|
| 2009 |
+
"action_dim": 7,
|
| 2010 |
+
"obs_mode": "vision_wrench",
|
| 2011 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2012 |
+
},
|
| 2013 |
+
{
|
| 2014 |
+
"hdf5_key": "ep_00200",
|
| 2015 |
+
"source_episode_index": 200,
|
| 2016 |
+
"split": "valid",
|
| 2017 |
+
"num_samples": 581,
|
| 2018 |
+
"action_dim": 7,
|
| 2019 |
+
"obs_mode": "vision_wrench",
|
| 2020 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2021 |
+
},
|
| 2022 |
+
{
|
| 2023 |
+
"hdf5_key": "ep_00201",
|
| 2024 |
+
"source_episode_index": 201,
|
| 2025 |
+
"split": "valid",
|
| 2026 |
+
"num_samples": 574,
|
| 2027 |
+
"action_dim": 7,
|
| 2028 |
+
"obs_mode": "vision_wrench",
|
| 2029 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2030 |
+
}
|
| 2031 |
+
]
|
| 2032 |
+
}
|
vac_post_vis_wrench/last.pth
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:2c567f08fbaeb941442dbd43fb48198511cb1de4b71d663f789453187770b7d1
|
| 3 |
+
size 1255131613
|
vac_post_vis_wrench_state/action_stats.json
ADDED
|
@@ -0,0 +1,297 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"dataset": "/workspace/datasets/dataset_pipe_02_06",
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"observation_mode_examples": [
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vac_post_vis_wrench_state/best.pth
ADDED
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size 1260740861
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vac_post_vis_wrench_state/config.json
ADDED
|
@@ -0,0 +1,198 @@
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|
| 1 |
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{
|
| 2 |
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"algo_name": "diffusion_policy",
|
| 3 |
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"experiment": {
|
| 4 |
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"name": "vac_post_vis_wrench_state",
|
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|
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|
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|
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| 23 |
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|
| 27 |
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|
| 28 |
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|
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|
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|
| 31 |
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|
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|
| 33 |
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|
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|
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|
| 36 |
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|
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|
| 38 |
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"ckpt_path": null
|
| 39 |
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},
|
| 40 |
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"train": {
|
| 41 |
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"data": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_post_vis_wrench_state/vac_post_vis_wrench_state.hdf5",
|
| 42 |
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"output_dir": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_post_vis_wrench_state/robomimic_runs",
|
| 43 |
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|
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|
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|
| 48 |
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|
| 49 |
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| 50 |
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|
| 51 |
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|
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| 55 |
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| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
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|
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|
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|
| 72 |
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|
| 73 |
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|
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
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|
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|
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|
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"epoch_schedule": []
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|
| 89 |
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"L2": 1e-06
|
| 90 |
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|
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|
| 92 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 120 |
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|
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|
| 130 |
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| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
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|
| 151 |
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| 152 |
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|
| 153 |
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| 154 |
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| 155 |
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| 158 |
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| 159 |
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| 160 |
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|
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|
| 162 |
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|
| 163 |
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| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 197 |
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|
| 198 |
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}
|
vac_post_vis_wrench_state/dataset_summary.json
ADDED
|
@@ -0,0 +1,2032 @@
|
|
|
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|
|
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|
|
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"hdf5_key": "ep_00185",
|
| 1880 |
+
"source_episode_index": 185,
|
| 1881 |
+
"split": "valid",
|
| 1882 |
+
"num_samples": 774,
|
| 1883 |
+
"action_dim": 7,
|
| 1884 |
+
"obs_mode": "vision_wrench_state",
|
| 1885 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1886 |
+
},
|
| 1887 |
+
{
|
| 1888 |
+
"hdf5_key": "ep_00186",
|
| 1889 |
+
"source_episode_index": 186,
|
| 1890 |
+
"split": "valid",
|
| 1891 |
+
"num_samples": 682,
|
| 1892 |
+
"action_dim": 7,
|
| 1893 |
+
"obs_mode": "vision_wrench_state",
|
| 1894 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1895 |
+
},
|
| 1896 |
+
{
|
| 1897 |
+
"hdf5_key": "ep_00187",
|
| 1898 |
+
"source_episode_index": 187,
|
| 1899 |
+
"split": "valid",
|
| 1900 |
+
"num_samples": 715,
|
| 1901 |
+
"action_dim": 7,
|
| 1902 |
+
"obs_mode": "vision_wrench_state",
|
| 1903 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1904 |
+
},
|
| 1905 |
+
{
|
| 1906 |
+
"hdf5_key": "ep_00188",
|
| 1907 |
+
"source_episode_index": 188,
|
| 1908 |
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"split": "valid",
|
| 1909 |
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"num_samples": 798,
|
| 1910 |
+
"action_dim": 7,
|
| 1911 |
+
"obs_mode": "vision_wrench_state",
|
| 1912 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1913 |
+
},
|
| 1914 |
+
{
|
| 1915 |
+
"hdf5_key": "ep_00189",
|
| 1916 |
+
"source_episode_index": 189,
|
| 1917 |
+
"split": "valid",
|
| 1918 |
+
"num_samples": 786,
|
| 1919 |
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"action_dim": 7,
|
| 1920 |
+
"obs_mode": "vision_wrench_state",
|
| 1921 |
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"action_mode": "post_velcmd_hand_binary"
|
| 1922 |
+
},
|
| 1923 |
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{
|
| 1924 |
+
"hdf5_key": "ep_00190",
|
| 1925 |
+
"source_episode_index": 190,
|
| 1926 |
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"split": "valid",
|
| 1927 |
+
"num_samples": 759,
|
| 1928 |
+
"action_dim": 7,
|
| 1929 |
+
"obs_mode": "vision_wrench_state",
|
| 1930 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1931 |
+
},
|
| 1932 |
+
{
|
| 1933 |
+
"hdf5_key": "ep_00191",
|
| 1934 |
+
"source_episode_index": 191,
|
| 1935 |
+
"split": "valid",
|
| 1936 |
+
"num_samples": 812,
|
| 1937 |
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"action_dim": 7,
|
| 1938 |
+
"obs_mode": "vision_wrench_state",
|
| 1939 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1940 |
+
},
|
| 1941 |
+
{
|
| 1942 |
+
"hdf5_key": "ep_00192",
|
| 1943 |
+
"source_episode_index": 192,
|
| 1944 |
+
"split": "valid",
|
| 1945 |
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"num_samples": 803,
|
| 1946 |
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"action_dim": 7,
|
| 1947 |
+
"obs_mode": "vision_wrench_state",
|
| 1948 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1949 |
+
},
|
| 1950 |
+
{
|
| 1951 |
+
"hdf5_key": "ep_00193",
|
| 1952 |
+
"source_episode_index": 193,
|
| 1953 |
+
"split": "valid",
|
| 1954 |
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"num_samples": 780,
|
| 1955 |
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"action_dim": 7,
|
| 1956 |
+
"obs_mode": "vision_wrench_state",
|
| 1957 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1958 |
+
},
|
| 1959 |
+
{
|
| 1960 |
+
"hdf5_key": "ep_00194",
|
| 1961 |
+
"source_episode_index": 194,
|
| 1962 |
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"split": "valid",
|
| 1963 |
+
"num_samples": 853,
|
| 1964 |
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"action_dim": 7,
|
| 1965 |
+
"obs_mode": "vision_wrench_state",
|
| 1966 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1967 |
+
},
|
| 1968 |
+
{
|
| 1969 |
+
"hdf5_key": "ep_00195",
|
| 1970 |
+
"source_episode_index": 195,
|
| 1971 |
+
"split": "valid",
|
| 1972 |
+
"num_samples": 710,
|
| 1973 |
+
"action_dim": 7,
|
| 1974 |
+
"obs_mode": "vision_wrench_state",
|
| 1975 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1976 |
+
},
|
| 1977 |
+
{
|
| 1978 |
+
"hdf5_key": "ep_00196",
|
| 1979 |
+
"source_episode_index": 196,
|
| 1980 |
+
"split": "valid",
|
| 1981 |
+
"num_samples": 855,
|
| 1982 |
+
"action_dim": 7,
|
| 1983 |
+
"obs_mode": "vision_wrench_state",
|
| 1984 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1985 |
+
},
|
| 1986 |
+
{
|
| 1987 |
+
"hdf5_key": "ep_00197",
|
| 1988 |
+
"source_episode_index": 197,
|
| 1989 |
+
"split": "valid",
|
| 1990 |
+
"num_samples": 707,
|
| 1991 |
+
"action_dim": 7,
|
| 1992 |
+
"obs_mode": "vision_wrench_state",
|
| 1993 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 1994 |
+
},
|
| 1995 |
+
{
|
| 1996 |
+
"hdf5_key": "ep_00198",
|
| 1997 |
+
"source_episode_index": 198,
|
| 1998 |
+
"split": "valid",
|
| 1999 |
+
"num_samples": 557,
|
| 2000 |
+
"action_dim": 7,
|
| 2001 |
+
"obs_mode": "vision_wrench_state",
|
| 2002 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2003 |
+
},
|
| 2004 |
+
{
|
| 2005 |
+
"hdf5_key": "ep_00199",
|
| 2006 |
+
"source_episode_index": 199,
|
| 2007 |
+
"split": "valid",
|
| 2008 |
+
"num_samples": 522,
|
| 2009 |
+
"action_dim": 7,
|
| 2010 |
+
"obs_mode": "vision_wrench_state",
|
| 2011 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2012 |
+
},
|
| 2013 |
+
{
|
| 2014 |
+
"hdf5_key": "ep_00200",
|
| 2015 |
+
"source_episode_index": 200,
|
| 2016 |
+
"split": "valid",
|
| 2017 |
+
"num_samples": 581,
|
| 2018 |
+
"action_dim": 7,
|
| 2019 |
+
"obs_mode": "vision_wrench_state",
|
| 2020 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2021 |
+
},
|
| 2022 |
+
{
|
| 2023 |
+
"hdf5_key": "ep_00201",
|
| 2024 |
+
"source_episode_index": 201,
|
| 2025 |
+
"split": "valid",
|
| 2026 |
+
"num_samples": 574,
|
| 2027 |
+
"action_dim": 7,
|
| 2028 |
+
"obs_mode": "vision_wrench_state",
|
| 2029 |
+
"action_mode": "post_velcmd_hand_binary"
|
| 2030 |
+
}
|
| 2031 |
+
]
|
| 2032 |
+
}
|
vac_post_vis_wrench_state/last.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2cb19b54dee0d39a9ef94a97e23096aad461c0946b707cb1a01058b156fe2f49
|
| 3 |
+
size 1260636893
|
vac_pre_vis/action_stats.json
ADDED
|
@@ -0,0 +1,311 @@
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|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"method": "min_max",
|
| 3 |
+
"output_min": -0.999999,
|
| 4 |
+
"output_max": 0.999999,
|
| 5 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary",
|
| 6 |
+
"action_components": [
|
| 7 |
+
"user_cmd_dx",
|
| 8 |
+
"user_cmd_dy",
|
| 9 |
+
"user_cmd_dz",
|
| 10 |
+
"user_cmd_drx",
|
| 11 |
+
"user_cmd_dry",
|
| 12 |
+
"user_cmd_drz",
|
| 13 |
+
"stiffness_cmd",
|
| 14 |
+
"zeta",
|
| 15 |
+
"hand_open_binary"
|
| 16 |
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],
|
| 17 |
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"num_frames": 124722,
|
| 18 |
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"min": [
|
| 19 |
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|
| 20 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"max": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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2.5,
|
| 38 |
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1.0
|
| 39 |
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],
|
| 40 |
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"mean": [
|
| 41 |
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-1.295681795454584e-05,
|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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| 48 |
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|
| 49 |
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| 50 |
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],
|
| 51 |
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"std": [
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| 52 |
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|
| 53 |
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| 54 |
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|
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|
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|
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| 61 |
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],
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| 62 |
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"scale": [
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| 63 |
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| 72 |
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],
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| 73 |
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"offset": [
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| 74 |
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0.0,
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| 75 |
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| 76 |
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| 82 |
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0.5
|
| 83 |
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],
|
| 84 |
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"hand_source": "action.absolute",
|
| 85 |
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"hand_active_dims": [
|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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],
|
| 91 |
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"hand_reduce": "mean",
|
| 92 |
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"hand_threshold": 0.85,
|
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vac_pre_vis/best.pth
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size 1252540221
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vac_pre_vis/config.json
ADDED
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@@ -0,0 +1,195 @@
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{
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|
| 41 |
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| 42 |
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| 145 |
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"depth": [],
|
| 146 |
+
"scan": []
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
"encoder": {
|
| 150 |
+
"low_dim": {
|
| 151 |
+
"core_class": null,
|
| 152 |
+
"core_kwargs": {},
|
| 153 |
+
"obs_randomizer_class": null,
|
| 154 |
+
"obs_randomizer_kwargs": {}
|
| 155 |
+
},
|
| 156 |
+
"rgb": {
|
| 157 |
+
"core_class": "VisualCore",
|
| 158 |
+
"core_kwargs": {
|
| 159 |
+
"backbone_class": "ResNet18Conv",
|
| 160 |
+
"backbone_kwargs": {
|
| 161 |
+
"pretrained": false,
|
| 162 |
+
"input_coord_conv": false
|
| 163 |
+
},
|
| 164 |
+
"pool_class": "SpatialSoftmax",
|
| 165 |
+
"pool_kwargs": {
|
| 166 |
+
"num_kp": 32,
|
| 167 |
+
"learnable_temperature": false,
|
| 168 |
+
"temperature": 1.0,
|
| 169 |
+
"noise_std": 0.0
|
| 170 |
+
},
|
| 171 |
+
"feature_dimension": 64
|
| 172 |
+
},
|
| 173 |
+
"obs_randomizer_class": null,
|
| 174 |
+
"obs_randomizer_kwargs": {}
|
| 175 |
+
},
|
| 176 |
+
"depth": {
|
| 177 |
+
"core_class": "VisualCore",
|
| 178 |
+
"core_kwargs": {},
|
| 179 |
+
"obs_randomizer_class": null,
|
| 180 |
+
"obs_randomizer_kwargs": {}
|
| 181 |
+
},
|
| 182 |
+
"scan": {
|
| 183 |
+
"core_class": "ScanCore",
|
| 184 |
+
"core_kwargs": {},
|
| 185 |
+
"obs_randomizer_class": null,
|
| 186 |
+
"obs_randomizer_kwargs": {}
|
| 187 |
+
}
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"meta": {
|
| 191 |
+
"hp_base_config_file": null,
|
| 192 |
+
"hp_keys": [],
|
| 193 |
+
"hp_values": []
|
| 194 |
+
}
|
| 195 |
+
}
|
vac_pre_vis/dataset_summary.json
ADDED
|
@@ -0,0 +1,2032 @@
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| 1789 |
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| 1823 |
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| 1824 |
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| 1825 |
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| 1826 |
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| 1827 |
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| 1828 |
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| 1829 |
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|
| 1830 |
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|
| 1831 |
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|
| 1832 |
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| 1833 |
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|
| 1834 |
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|
| 1835 |
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| 1836 |
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| 1838 |
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| 1839 |
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|
| 1840 |
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|
| 1841 |
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|
| 1842 |
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|
| 1843 |
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|
| 1844 |
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| 1845 |
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| 1847 |
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|
| 1848 |
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|
| 1849 |
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|
| 1850 |
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|
| 1851 |
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|
| 1852 |
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|
| 1853 |
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| 1856 |
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| 1858 |
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|
| 1859 |
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|
| 1860 |
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|
| 1861 |
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|
| 1862 |
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|
| 1863 |
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|
| 1864 |
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|
| 1865 |
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|
| 1866 |
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|
| 1867 |
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|
| 1868 |
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|
| 1869 |
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|
| 1870 |
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|
| 1871 |
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|
| 1872 |
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| 1873 |
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| 1874 |
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|
| 1875 |
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|
| 1876 |
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|
| 1877 |
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|
| 1878 |
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|
| 1879 |
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|
| 1880 |
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|
| 1881 |
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|
| 1882 |
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|
| 1883 |
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|
| 1884 |
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|
| 1885 |
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|
| 1886 |
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|
| 1887 |
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|
| 1888 |
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|
| 1889 |
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|
| 1890 |
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|
| 1891 |
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|
| 1892 |
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|
| 1893 |
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|
| 1894 |
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|
| 1895 |
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|
| 1896 |
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|
| 1897 |
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|
| 1898 |
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|
| 1899 |
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|
| 1900 |
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| 1902 |
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|
| 1903 |
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|
| 1904 |
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|
| 1905 |
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|
| 1906 |
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|
| 1907 |
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|
| 1908 |
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|
| 1910 |
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|
| 1911 |
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|
| 1912 |
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|
| 1913 |
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|
| 1914 |
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|
| 1915 |
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|
| 1916 |
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|
| 1917 |
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|
| 1918 |
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|
| 1919 |
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|
| 1920 |
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|
| 1921 |
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| 1922 |
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| 1923 |
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|
| 1924 |
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|
| 1925 |
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|
| 1926 |
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|
| 1927 |
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|
| 1928 |
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|
| 1929 |
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|
| 1930 |
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|
| 1931 |
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|
| 1932 |
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|
| 1933 |
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|
| 1934 |
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|
| 1935 |
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|
| 1936 |
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|
| 1937 |
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|
| 1938 |
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|
| 1939 |
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|
| 1940 |
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|
| 1941 |
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{
|
| 1942 |
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|
| 1943 |
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|
| 1944 |
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|
| 1945 |
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|
| 1946 |
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|
| 1947 |
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|
| 1948 |
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|
| 1949 |
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|
| 1950 |
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{
|
| 1951 |
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|
| 1952 |
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|
| 1953 |
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|
| 1954 |
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|
| 1955 |
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|
| 1956 |
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|
| 1957 |
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|
| 1958 |
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|
| 1959 |
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{
|
| 1960 |
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|
| 1961 |
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|
| 1962 |
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|
| 1963 |
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|
| 1964 |
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|
| 1965 |
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|
| 1966 |
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|
| 1967 |
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|
| 1968 |
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{
|
| 1969 |
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|
| 1970 |
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|
| 1971 |
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|
| 1972 |
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|
| 1973 |
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|
| 1974 |
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|
| 1975 |
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|
| 1976 |
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|
| 1977 |
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{
|
| 1978 |
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|
| 1979 |
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|
| 1980 |
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|
| 1981 |
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|
| 1982 |
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|
| 1983 |
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|
| 1984 |
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|
| 1985 |
+
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|
| 1986 |
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{
|
| 1987 |
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"hdf5_key": "ep_00197",
|
| 1988 |
+
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|
| 1989 |
+
"split": "valid",
|
| 1990 |
+
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|
| 1991 |
+
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|
| 1992 |
+
"obs_mode": "vision",
|
| 1993 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 1994 |
+
},
|
| 1995 |
+
{
|
| 1996 |
+
"hdf5_key": "ep_00198",
|
| 1997 |
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|
| 1998 |
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|
| 1999 |
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|
| 2000 |
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|
| 2001 |
+
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|
| 2002 |
+
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|
| 2003 |
+
},
|
| 2004 |
+
{
|
| 2005 |
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|
| 2006 |
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|
| 2007 |
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|
| 2008 |
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|
| 2009 |
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|
| 2010 |
+
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|
| 2011 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2012 |
+
},
|
| 2013 |
+
{
|
| 2014 |
+
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|
| 2015 |
+
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|
| 2016 |
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|
| 2017 |
+
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|
| 2018 |
+
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|
| 2019 |
+
"obs_mode": "vision",
|
| 2020 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2021 |
+
},
|
| 2022 |
+
{
|
| 2023 |
+
"hdf5_key": "ep_00201",
|
| 2024 |
+
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|
| 2025 |
+
"split": "valid",
|
| 2026 |
+
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|
| 2027 |
+
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|
| 2028 |
+
"obs_mode": "vision",
|
| 2029 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2030 |
+
}
|
| 2031 |
+
]
|
| 2032 |
+
}
|
vac_pre_vis/last.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:fdfbe4951d55d8cd9a7d09b09fcb69bf77f8e82e4a1c0930b623bf42ee9eb7e4
|
| 3 |
+
size 1252436253
|
vac_pre_vis_wrench/action_stats.json
ADDED
|
@@ -0,0 +1,311 @@
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vac_pre_vis_wrench/best.pth
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1255291917
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vac_pre_vis_wrench/config.json
ADDED
|
@@ -0,0 +1,197 @@
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|
| 1 |
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{
|
| 2 |
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"algo_name": "diffusion_policy",
|
| 3 |
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"experiment": {
|
| 4 |
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"name": "vac_pre_vis_wrench",
|
| 5 |
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"validate": true,
|
| 6 |
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"logging": {
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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},
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| 12 |
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"save": {
|
| 13 |
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"enabled": true,
|
| 14 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
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| 25 |
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"render": false,
|
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"keep_all_videos": false,
|
| 28 |
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"video_skip": 5,
|
| 29 |
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"rollout": {
|
| 30 |
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"enabled": false,
|
| 31 |
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"n": 0,
|
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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},
|
| 37 |
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|
| 38 |
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"ckpt_path": null
|
| 39 |
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},
|
| 40 |
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"train": {
|
| 41 |
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"data": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_pre_vis_wrench/vac_pre_vis_wrench.hdf5",
|
| 42 |
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"output_dir": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_pre_vis_wrench/robomimic_runs",
|
| 43 |
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"normalize_weights_by_ds_size": false,
|
| 44 |
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|
| 45 |
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"hdf5_cache_mode": "all",
|
| 46 |
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|
| 47 |
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|
| 48 |
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"hdf5_normalize_obs": false,
|
| 49 |
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"hdf5_filter_key": "train",
|
| 50 |
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"hdf5_validation_filter_key": "valid",
|
| 51 |
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"seq_length": 8,
|
| 52 |
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"pad_seq_length": true,
|
| 53 |
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"frame_stack": 2,
|
| 54 |
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"pad_frame_stack": true,
|
| 55 |
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"dataset_keys": [
|
| 56 |
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"actions",
|
| 57 |
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"rewards",
|
| 58 |
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|
| 59 |
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],
|
| 60 |
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"action_keys": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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"regularization": {
|
| 89 |
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"L2": 1e-06
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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"horizon": {
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"ema": {
|
| 110 |
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"enabled": true,
|
| 111 |
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|
| 112 |
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|
| 113 |
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"ddpm": {
|
| 114 |
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"enabled": true,
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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"prediction_type": "epsilon"
|
| 120 |
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|
| 121 |
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|
| 122 |
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"enabled": false,
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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"steps_offset": 0,
|
| 129 |
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"prediction_type": "epsilon"
|
| 130 |
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}
|
| 131 |
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},
|
| 132 |
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"observation": {
|
| 133 |
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"modalities": {
|
| 134 |
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"obs": {
|
| 135 |
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"low_dim": [
|
| 136 |
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"wrench"
|
| 137 |
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],
|
| 138 |
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"rgb": [
|
| 139 |
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"front_rgb"
|
| 140 |
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|
| 141 |
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"depth": [],
|
| 142 |
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"scan": []
|
| 143 |
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|
| 144 |
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"goal": {
|
| 145 |
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|
| 146 |
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"rgb": [],
|
| 147 |
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"depth": [],
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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"encoder": {
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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"core_class": "VisualCore",
|
| 160 |
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"core_kwargs": {
|
| 161 |
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"backbone_class": "ResNet18Conv",
|
| 162 |
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"backbone_kwargs": {
|
| 163 |
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|
| 164 |
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"input_coord_conv": false
|
| 165 |
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|
| 166 |
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"pool_class": "SpatialSoftmax",
|
| 167 |
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"pool_kwargs": {
|
| 168 |
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"num_kp": 32,
|
| 169 |
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"learnable_temperature": false,
|
| 170 |
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"temperature": 1.0,
|
| 171 |
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"noise_std": 0.0
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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"scan": {
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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"meta": {
|
| 193 |
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"hp_base_config_file": null,
|
| 194 |
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"hp_keys": [],
|
| 195 |
+
"hp_values": []
|
| 196 |
+
}
|
| 197 |
+
}
|
vac_pre_vis_wrench/dataset_summary.json
ADDED
|
@@ -0,0 +1,2032 @@
|
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| 1 |
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"split": "valid",
|
| 2026 |
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"num_samples": 574,
|
| 2027 |
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"action_dim": 9,
|
| 2028 |
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"obs_mode": "vision_wrench",
|
| 2029 |
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"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2030 |
+
}
|
| 2031 |
+
]
|
| 2032 |
+
}
|
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|
| 1 |
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{
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|
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vac_pre_vis_wrench_state/best.pth
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version https://git-lfs.github.com/spec/v1
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size 1260797133
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vac_pre_vis_wrench_state/config.json
ADDED
|
@@ -0,0 +1,198 @@
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|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
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|
| 1 |
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{
|
| 2 |
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"algo_name": "diffusion_policy",
|
| 3 |
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"experiment": {
|
| 4 |
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"name": "vac_pre_vis_wrench_state",
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 10 |
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|
| 16 |
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|
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|
| 18 |
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|
| 19 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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"ckpt_path": null
|
| 39 |
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},
|
| 40 |
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"train": {
|
| 41 |
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"data": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_pre_vis_wrench_state/vac_pre_vis_wrench_state.hdf5",
|
| 42 |
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"output_dir": "/workspace/training/vac_io_ablation/runs/pipe_io_ablation/vac_pre_vis_wrench_state/robomimic_runs",
|
| 43 |
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|
| 44 |
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|
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
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|
| 72 |
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|
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|
| 74 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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| 80 |
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|
| 81 |
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|
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|
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|
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|
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|
| 86 |
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|
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|
| 89 |
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"L2": 1e-06
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
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|
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|
| 97 |
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|
| 100 |
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|
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|
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|
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|
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|
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|
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|
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|
| 118 |
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|
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|
| 120 |
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|
| 121 |
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|
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|
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|
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|
| 130 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 143 |
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|
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| 145 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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| 151 |
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| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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|
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
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|
| 171 |
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|
| 172 |
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|
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|
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|
| 177 |
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|
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| 180 |
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|
| 181 |
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|
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|
| 197 |
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|
| 198 |
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}
|
vac_pre_vis_wrench_state/dataset_summary.json
ADDED
|
@@ -0,0 +1,2032 @@
|
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| 1 |
+
{
|
| 2 |
+
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|
| 1873 |
+
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|
| 1874 |
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|
| 1875 |
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|
| 1876 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 1877 |
+
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|
| 1878 |
+
{
|
| 1879 |
+
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|
| 1880 |
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|
| 1881 |
+
"split": "valid",
|
| 1882 |
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|
| 1883 |
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|
| 1884 |
+
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|
| 1885 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 1886 |
+
},
|
| 1887 |
+
{
|
| 1888 |
+
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|
| 1889 |
+
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|
| 1890 |
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|
| 1891 |
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|
| 1892 |
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|
| 1893 |
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|
| 1894 |
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|
| 1895 |
+
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|
| 1896 |
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{
|
| 1897 |
+
"hdf5_key": "ep_00187",
|
| 1898 |
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|
| 1899 |
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|
| 1900 |
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|
| 1901 |
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|
| 1902 |
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|
| 1903 |
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|
| 1904 |
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},
|
| 1905 |
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{
|
| 1906 |
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|
| 1907 |
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|
| 1908 |
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|
| 1909 |
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|
| 1910 |
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|
| 1911 |
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|
| 1912 |
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|
| 1913 |
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|
| 1914 |
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{
|
| 1915 |
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|
| 1916 |
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|
| 1917 |
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|
| 1918 |
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|
| 1919 |
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|
| 1920 |
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|
| 1921 |
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|
| 1922 |
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},
|
| 1923 |
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{
|
| 1924 |
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|
| 1925 |
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|
| 1926 |
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|
| 1927 |
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|
| 1928 |
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|
| 1929 |
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|
| 1930 |
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|
| 1931 |
+
},
|
| 1932 |
+
{
|
| 1933 |
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"hdf5_key": "ep_00191",
|
| 1934 |
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|
| 1935 |
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|
| 1936 |
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|
| 1937 |
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|
| 1938 |
+
"obs_mode": "vision_wrench_state",
|
| 1939 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 1940 |
+
},
|
| 1941 |
+
{
|
| 1942 |
+
"hdf5_key": "ep_00192",
|
| 1943 |
+
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|
| 1944 |
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|
| 1945 |
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|
| 1946 |
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|
| 1947 |
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|
| 1948 |
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|
| 1949 |
+
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|
| 1950 |
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|
| 1951 |
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|
| 1952 |
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|
| 1953 |
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|
| 1954 |
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|
| 1955 |
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|
| 1956 |
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|
| 1957 |
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|
| 1958 |
+
},
|
| 1959 |
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{
|
| 1960 |
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|
| 1961 |
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|
| 1962 |
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|
| 1963 |
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|
| 1964 |
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|
| 1965 |
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|
| 1966 |
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|
| 1967 |
+
},
|
| 1968 |
+
{
|
| 1969 |
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|
| 1970 |
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|
| 1971 |
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|
| 1972 |
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|
| 1973 |
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|
| 1974 |
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|
| 1975 |
+
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|
| 1976 |
+
},
|
| 1977 |
+
{
|
| 1978 |
+
"hdf5_key": "ep_00196",
|
| 1979 |
+
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|
| 1980 |
+
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|
| 1981 |
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|
| 1982 |
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|
| 1983 |
+
"obs_mode": "vision_wrench_state",
|
| 1984 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 1985 |
+
},
|
| 1986 |
+
{
|
| 1987 |
+
"hdf5_key": "ep_00197",
|
| 1988 |
+
"source_episode_index": 197,
|
| 1989 |
+
"split": "valid",
|
| 1990 |
+
"num_samples": 707,
|
| 1991 |
+
"action_dim": 9,
|
| 1992 |
+
"obs_mode": "vision_wrench_state",
|
| 1993 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 1994 |
+
},
|
| 1995 |
+
{
|
| 1996 |
+
"hdf5_key": "ep_00198",
|
| 1997 |
+
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|
| 1998 |
+
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|
| 1999 |
+
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|
| 2000 |
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|
| 2001 |
+
"obs_mode": "vision_wrench_state",
|
| 2002 |
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"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2003 |
+
},
|
| 2004 |
+
{
|
| 2005 |
+
"hdf5_key": "ep_00199",
|
| 2006 |
+
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|
| 2007 |
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"split": "valid",
|
| 2008 |
+
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|
| 2009 |
+
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|
| 2010 |
+
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|
| 2011 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2012 |
+
},
|
| 2013 |
+
{
|
| 2014 |
+
"hdf5_key": "ep_00200",
|
| 2015 |
+
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|
| 2016 |
+
"split": "valid",
|
| 2017 |
+
"num_samples": 581,
|
| 2018 |
+
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|
| 2019 |
+
"obs_mode": "vision_wrench_state",
|
| 2020 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2021 |
+
},
|
| 2022 |
+
{
|
| 2023 |
+
"hdf5_key": "ep_00201",
|
| 2024 |
+
"source_episode_index": 201,
|
| 2025 |
+
"split": "valid",
|
| 2026 |
+
"num_samples": 574,
|
| 2027 |
+
"action_dim": 9,
|
| 2028 |
+
"obs_mode": "vision_wrench_state",
|
| 2029 |
+
"action_mode": "pre_usercmd_stiffness_zeta_hand_binary"
|
| 2030 |
+
}
|
| 2031 |
+
]
|
| 2032 |
+
}
|
vac_pre_vis_wrench_state/last.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6829f73d431908d6b9f8601af09efb386a53e739a9a820f3a90c9d229f0082c2
|
| 3 |
+
size 1260694301
|