File size: 2,622 Bytes
323355a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 | #!/usr/bin/env bash
set -euo pipefail
ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
PYTHON="${PYTHON:-/home/ubuntu/envs/genmanip-isaac5-py311/bin/python}"
ISAACLAB_SITE="/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source"
export OMNI_KIT_ACCEPT_EULA=YES
export PYTHONUNBUFFERED=1
export CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-0}"
export PYTHONPATH="${ISAACLAB_SITE}/isaaclab:${ISAACLAB_SITE}/isaaclab_tasks:${ISAACLAB_SITE}/isaaclab_assets:${ISAACLAB_SITE}/isaaclab_rl:${ISAACLAB_SITE}/isaaclab_mimic:${ROOT_DIR}/source/atec_rl_lab:${ROOT_DIR}/scripts/act:${PYTHONPATH:-}"
cd "$ROOT_DIR"
DATA_DIR="${DATA_DIR:-datasets/atec_task_e}"
NUM_DEMOS="${NUM_DEMOS:-100}"
PICK_OBJECTS="${PICK_OBJECTS:-3 2 1}"
read -r -a PICK_OBJECTS_ARGS <<< "$PICK_OBJECTS"
MAX_ATTEMPTS="${MAX_ATTEMPTS:-0}"
TOTAL_ITERS="${TOTAL_ITERS:-100000}"
BATCH_SIZE="${BATCH_SIZE:-512}"
SEED="${SEED:-1}"
LOG_FREQ="${LOG_FREQ:-100}"
SAVE_FREQ="${SAVE_FREQ:-5000}"
RUN_NAME="${RUN_NAME:-act-task-e-rgb-${NUM_DEMOS}demos-seed${SEED}}"
RESUME_CHECKPOINT="${RESUME_CHECKPOINT:-}"
RESUME_ITER="${RESUME_ITER:-}"
RAW_DATA="${DATA_DIR}/trajectory.hdf5"
FILTERED_DATA="${DATA_DIR}/trajectory_filtered.hdf5"
mkdir -p "$DATA_DIR" logs
echo "[ATEC Task E] root: $ROOT_DIR"
echo "[ATEC Task E] python: $PYTHON"
echo "[ATEC Task E] data: $DATA_DIR"
echo "[ATEC Task E] demos: $NUM_DEMOS, pick_objects: ${PICK_OBJECTS_ARGS[*]}, batch: $BATCH_SIZE, iters: $TOTAL_ITERS"
if [[ ! -f "$RAW_DATA" ]]; then
"$PYTHON" -u scripts/act/collect_demos_task_e.py \
--pick_objects "${PICK_OBJECTS_ARGS[@]}" \
--num_demos "$NUM_DEMOS" \
--headless \
--enable_cameras \
--save_images \
--only_success \
--trace \
--abort_failed_lift \
--max_attempts "$MAX_ATTEMPTS" \
--output_dir "$DATA_DIR"
else
echo "[ATEC Task E] Found $RAW_DATA, skip collection."
fi
if [[ ! -f "$FILTERED_DATA" ]]; then
"$PYTHON" -u scripts/act/filter_demos.py \
--input "$RAW_DATA" \
--output "$FILTERED_DATA" \
--threshold 0.001
else
echo "[ATEC Task E] Found $FILTERED_DATA, skip filtering."
fi
TRAIN_ARGS=(
--demo_path "$FILTERED_DATA"
--num_demos "$NUM_DEMOS"
--include_rgb
--total_iters "$TOTAL_ITERS"
--batch_size "$BATCH_SIZE"
--log_freq "$LOG_FREQ"
--save_freq "$SAVE_FREQ"
--seed "$SEED"
--exp_name "$RUN_NAME"
)
if [[ -n "$RESUME_CHECKPOINT" ]]; then
TRAIN_ARGS+=(--resume_checkpoint "$RESUME_CHECKPOINT")
fi
if [[ -n "$RESUME_ITER" ]]; then
TRAIN_ARGS+=(--resume_iter "$RESUME_ITER")
fi
"$PYTHON" -u scripts/act/train_task_e.py "${TRAIN_ARGS[@]}"
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