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b/visualize/0_Models/DiffusionModel/can/25-04-16-20-33-20/cfg.yaml @@ -0,0 +1,111 @@ +_target_: agent.eval.eval_diffusion_img_agent.EvalImgDiffusionAgent +name: can_eval_diffusion_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_diffusion_mlp_img_ta4_td100/2025-04-16_20-32-19_42 +base_policy_path: log/robomimic/pretrain/can/DDPM/state_5000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:4 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ddim_steps: 5 +n_steps: 300 +render_num: 0 +env: + n_envs: 50 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + randn_clip_value: 3 + use_ddim: true + ddim_steps: 5 + network_path: log/robomimic/pretrain/can/DDPM/state_5000.pt + network: + _target_: model.diffusion.mlp_diffusion.VisionDiffusionMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + augment: false + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + img_cond_steps: 1 + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + horizon_steps: 4 + obs_dim: 9 + action_dim: 7 + denoising_steps: 100 + device: cuda:4 diff --git a/visualize/0_Models/DiffusionModel/can/25-04-16-20-33-20/denoise_step.png b/visualize/0_Models/DiffusionModel/can/25-04-16-20-33-20/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..ec3aae2e87394f5f56b989a690a8458e0aecfdcd --- /dev/null +++ b/visualize/0_Models/DiffusionModel/can/25-04-16-20-33-20/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:719a096160309da8935dcfb241846effce4131f21403504b70ff2222a9815fe4 +size 128808 diff --git a/visualize/0_Models/DiffusionModel/can/25-04-16-20-33-20/eval_statistics.npz b/visualize/0_Models/DiffusionModel/can/25-04-16-20-33-20/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f898d45c27b14cd91f0d15bedef36eab63e4102 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/can/25-04-16-20-33-20/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ac3763debf5cae78ba90db3f2c936d16110b57fc4cc69cf48e2dd2e1de1d6a9 +size 1270 diff --git a/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/cfg.yaml b/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..443c37d683a1fd940f8544c7f950bb357359584c --- /dev/null +++ b/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/cfg.yaml @@ -0,0 +1,111 @@ +_target_: agent.eval.eval_diffusion_img_agent.EvalImgDiffusionAgent +name: can_eval_diffusion_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_diffusion_mlp_img_ta4_td100/2025-04-17_11-12-22_42 +base_policy_path: log/robomimic/pretrain/can/DDPM/state_5000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:2 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ddim_steps: 5 +n_steps: 300 +render_num: 0 +env: + n_envs: 50 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + randn_clip_value: 3 + use_ddim: true + ddim_steps: 5 + network_path: log/robomimic/pretrain/can/DDPM/state_5000.pt + network: + _target_: model.diffusion.mlp_diffusion.VisionDiffusionMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + augment: false + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + img_cond_steps: 1 + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + horizon_steps: 4 + obs_dim: 9 + action_dim: 7 + denoising_steps: 100 + device: cuda:2 diff --git a/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/denoise_step.png b/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..2c5a9e3582abc38d0e085c6d334ed223ee9f62b9 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6766b3b3bbe8821a766958e94e817f2f60fbb804a71536415c94cd1b55c4d79b +size 194919 diff --git a/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/eval_statistics.npz b/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..3afe52b5627cee2e85eab7da599440cdca6ebb0f --- /dev/null +++ b/visualize/0_Models/DiffusionModel/can/25-04-17-11-13-29/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:807ac2188fd6909b7fbd91d2a13bebe3f4e28d52a05706b6b85d56248b34117f +size 2838 diff --git a/visualize/0_Models/DiffusionModel/plot_single/walker2d-v2/25-04-16-14-10-27/single.png b/visualize/0_Models/DiffusionModel/plot_single/walker2d-v2/25-04-16-14-10-27/single.png new file mode 100644 index 0000000000000000000000000000000000000000..91487cf4554186aec12c250ab19ffee51fa9464b --- /dev/null +++ b/visualize/0_Models/DiffusionModel/plot_single/walker2d-v2/25-04-16-14-10-27/single.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3285a800288a377f0719722305cf4cbe766452f8ef5b0f3a05c4a9b15744cad1 +size 195739 diff --git a/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/cfg.yaml b/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..74e42262ae3a8bd5ddef6001d71ac310985920a5 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/cfg.yaml @@ -0,0 +1,110 @@ +_target_: agent.eval.eval_diffusion_img_agent.EvalImgDiffusionAgent +name: square_eval_diffusion_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/square_eval_diffusion_mlp_img_ta4_td100/2025-04-16_20-32-23_42 +base_policy_path: log/robomimic/pretrain/square/DDPM/state_4000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: square +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ddim_steps: 5 +n_steps: 300 +render_num: 0 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + randn_clip_value: 3 + use_ddim: true + ddim_steps: 5 + network_path: log/robomimic/pretrain/square/DDPM/state_4000.pt + network: + _target_: model.diffusion.mlp_diffusion.VisionDiffusionMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 1 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + horizon_steps: 4 + obs_dim: 9 + action_dim: 7 + denoising_steps: 100 + device: cuda:3 diff --git a/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/denoise_step.png b/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..f659a32ec5b66d600a27d3f756258e975c444683 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13d5e39a017c8db7cc1cf5dff4d2eba56c32ee6d6db55685fed8b67537846342 +size 130543 diff --git a/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/eval_statistics.npz b/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..996b2c1a06739a5c0f979a1192e4863cbe900aba --- /dev/null +++ b/visualize/0_Models/DiffusionModel/square/25-04-16-20-33-18/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13e75203906317320aae924f2b31e0c43b7a38939dcd18bc6904f1ec73dcc22e +size 1270 diff --git a/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/cfg.yaml b/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d53b9e83a63427f279e2395833dc3b5f87ed79a --- /dev/null +++ b/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/cfg.yaml @@ -0,0 +1,110 @@ +_target_: agent.eval.eval_diffusion_img_agent.EvalImgDiffusionAgent +name: square_eval_diffusion_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/square_eval_diffusion_mlp_img_ta4_td100/2025-04-17_11-12-29_42 +base_policy_path: log/robomimic/pretrain/square/DDPM/state_4000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: square +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ddim_steps: 5 +n_steps: 300 +render_num: 0 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + randn_clip_value: 3 + use_ddim: true + ddim_steps: 5 + network_path: log/robomimic/pretrain/square/DDPM/state_4000.pt + network: + _target_: model.diffusion.mlp_diffusion.VisionDiffusionMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 1 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + horizon_steps: 4 + obs_dim: 9 + action_dim: 7 + denoising_steps: 100 + device: cuda:3 diff --git a/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/denoise_step.png b/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..2edad8e0f8d1e57ca6b59444a6042fb8f06907e0 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c329a860e9836741d1f1ff4e1bba13d218006f081364a56bb7d8dd1f4f12660b +size 201803 diff --git a/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/eval_statistics.npz b/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..70632233ae87c0c1f228cb34919cd0b570361e9d --- /dev/null +++ b/visualize/0_Models/DiffusionModel/square/25-04-17-11-13-30/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:715c4204607ec97ec2dafb544bdea63f63692694328e76f4ef890cfc1b4caa2f +size 2838 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-15-21-10-59/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-15-21-10-59/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d34c396d81a940576d5a5627f9040700eb7285a --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-15-21-10-59/cfg.yaml @@ -0,0 +1,54 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-15_21-10-52_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:0 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-15-21-13-28/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-15-21-13-28/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a6a7e7cdd9ff926fb5845015e5be1f9b3389f63 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-15-21-13-28/cfg.yaml @@ -0,0 +1,54 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-15_21-13-20_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:0 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..072dd58d434494121db457b9b89b6369c8bda2cc --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/cfg.yaml @@ -0,0 +1,54 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-16_00-31-02_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:0 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/denoise_step.png b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..f77ef36744abde2ec94959535482f3a1d69fb9ea --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d09c8de20b777524e7a56d991d1c96becf7f2e80e6a5405892de537538eac11 +size 202176 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/eval_statistics.npz b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..2fca61a8aeee8d26ff5a957b8f158bde2f076a60 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-31-10-DDPM/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc560b02a19aafec5a02d95172205839313acb95b120e21cb4ef52225f893a7a +size 1830 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..744dc33f4e4cfecc43d42bbda09f52f3518d7fe9 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/cfg.yaml @@ -0,0 +1,69 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td4 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td4/2025-04-16_00-32-35_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:3 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ft_denoising_steps: 4 +denoising_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + use_ddim: true + ddim_steps: 4 + learn_eta: false + eta: + base_eta: 1 + input_dim: 17 + mlp_dims: + - 256 + - 256 + action_dim: 6 + min_eta: 0.1 + max_eta: 1.0 + _target_: model.diffusion.eta.EtaFixed + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 4 + device: cuda:3 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/denoise_step.png b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..df22072c05c432369e652611c8a01e28df27ceb7 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:860905cfe3641d0f6ae1d52d171a92966b79dc2696708f3ec6c29f54a5840783 +size 202753 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/eval_statistics.npz b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..c9a40c75a2f0cc50c35af9ed055c6b11d538357f --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-00-32-44-DDIM/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab178674b1f923c6a347f0468076c9171d6f78dbe15c78b51c8b9560b7754174 +size 1830 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..698c9c7c06ce4ed2ec58ee06e6f407e29589f1a2 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/cfg.yaml @@ -0,0 +1,69 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-16_13-37-51_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:3 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ft_denoising_steps: 4 +denoising_steps: 20 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + use_ddim: true + ddim_steps: 4 + learn_eta: false + eta: + base_eta: 1 + input_dim: 17 + mlp_dims: + - 256 + - 256 + action_dim: 6 + min_eta: 0.1 + max_eta: 1.0 + _target_: model.diffusion.eta.EtaFixed + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:3 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/denoise_step.png b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..1504c000d3fe7879486bc5f627709d4bef2d8ffe --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04172ad3c3f1a9cddd48c1b2712df653d3900883ffcb52e9c8e5d28a9a45dbcd +size 163601 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/eval_statistics.npz b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..d89a9acb369aba81009be2a7aba12d9e60ea5140 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-38-02-DDIM2/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bb3347195fbff3ab71d4e4b21160cbcf15e17d63416ca1b65dff4bbb2587418 +size 1830 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..525e9b1f963ac01dda4f382672d5c11e12091f0a --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/cfg.yaml @@ -0,0 +1,54 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-16_13-45-13_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:0 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/denoise_step.png b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..5e1e3c0c893e8ff87f969949f906b0a41fa388be --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eec13d81bf19e1f1a85c2401eec76c6d56e258849f0ee28a756d247fef8fc95 +size 186862 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/eval_statistics.npz b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..2b8790d8b03c2953c1da1bfc1d1b3c3341a89fcf --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-45-24-DDPM2/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4eb9f4ecc8874d33e81381bd28f0fa3b21e39cd52733dd8478ff92add533087 +size 1270 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-50-30-DDIM2/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-50-30-DDIM2/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..948a932ee7119d46724e7a128928d5a21856d7d1 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-50-30-DDIM2/cfg.yaml @@ -0,0 +1,69 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-16_13-50-24_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ft_denoising_steps: 4 +denoising_steps: 20 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + use_ddim: true + ddim_steps: 4 + learn_eta: false + eta: + base_eta: 1 + input_dim: 17 + mlp_dims: + - 256 + - 256 + action_dim: 6 + min_eta: 0.1 + max_eta: 1.0 + _target_: model.diffusion.eta.EtaFixed + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:0 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-50-30-DDIM2/denoise_step.png b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-50-30-DDIM2/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..c0cf89744550cd21db4601e8c851b282a6b3c5df --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-13-50-30-DDIM2/denoise_step.png @@ 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0000000000000000000000000000000000000000..13221717989fb4cb2b20c7e1b11336f739bd9c4c --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-14-00-00-DDIM-merged/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02a9fe2c867a9b60fac834bfbbf3a8b8ecef8bf1066f11869060fc68bc1f1912 +size 2390 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-14-00-00-DDPM-merged/eval_statistics.npz b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-14-00-00-DDPM-merged/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..c7087c04ffebe2481255fdc2ae7aa6a05aae736c --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-14-00-00-DDPM-merged/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:020f438c92a2b0205c9894ca7dcc4550e889c535e86a705fe43554d612d1d944 +size 2390 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f34fc8a2ae79ef1a0d36cb1e98d48eb5d8fbc657 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/cfg.yaml @@ -0,0 +1,54 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-16_15-10-41_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:3 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:3 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/denoise_step.png b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..22736bb475980a160760f4959c5d86c8d5ee08bf --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8f787b937b14c30f0a1aae30fa4f452832022b895352855bde5edeea31319ee +size 195423 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/eval_statistics.npz b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..e003d862305ff7c0502aaf91b13bac97f955c826 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-10-50/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f652b4ae3c5806776e17130c5421cfc4d7cefb16e4e2c3ba6fd4f6daf77372a +size 2390 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/cfg.yaml b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f34bffd3c626f99d6e8350e98970f312af1a6d35 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/cfg.yaml @@ -0,0 +1,69 @@ +_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent +name: walker2d-medium-v2_eval_diffusion_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_diffusion_mlp_ta4_td20/2025-04-16_15-11-48_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +use_ddim: true +ft_denoising_steps: 4 +denoising_steps: 20 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.diffusion.diffusion.DiffusionModel + predict_epsilon: true + denoised_clip_value: 1.0 + use_ddim: true + ddim_steps: 4 + learn_eta: false + eta: + base_eta: 1 + input_dim: 17 + mlp_dims: + - 256 + - 256 + action_dim: 6 + min_eta: 0.1 + max_eta: 1.0 + _target_: model.diffusion.eta.EtaFixed + network_path: log/gym/pretrain/walker2d-medium-v2_pre_diffusion_mlp_ta4_td20/2024-06-12_23-06-12/checkpoint/state_3000.pt + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + residual_style: true + cond_dim: 17 + horizon_steps: 4 + action_dim: 6 + horizon_steps: 4 + obs_dim: 17 + action_dim: 6 + denoising_steps: 20 + device: cuda:4 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/denoise_step.png b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..96834e2e2fd19fdd88c43680a1b05aa2d131e159 --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb03bf0c890303982dbc29fad3ec680a90e588e39b89625637f77f92e35a358e +size 166552 diff --git a/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/eval_statistics.npz b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..2c9f5491ea6bc6374979fb2d813ce2d85e54626d --- /dev/null +++ b/visualize/0_Models/DiffusionModel/walker2d-medium-v2/25-04-16-15-11-56/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a2bbb0d2a1dfbbb49dd67ca43a8b9e14979bae811e24bb92245157b252c7d62 +size 2390 diff --git a/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/cfg.yaml b/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..82e296f8d9b55074a0e919b9e1801e184ae8f033 --- /dev/null +++ b/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: ant-medium-expert-v0_eval_reflow_mlp_ta4_td20 +logdir: log/gym/eval/ant-medium-expert-v0_eval_reflow_mlp_ta4_td20/2025-04-26_15-07-05_42 +base_policy_path: final_experiments_record/gym/pretrain/ant/reflow/2025-03-29_19-23-57_42/checkpoint/best_769.pt +normalization_path: data/gym/ant-medium-expert-v0/normalization.npz +seed: 42 +device: cuda:2 +env_name: ant-medium-expert-v0 +obs_dim: 111 +action_dim: 8 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 1000 +render_num: 0 +env: + n_envs: 40 + name: ant-medium-expert-v0 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/ant-medium-expert-v0/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + horizon_steps: 4 + action_dim: 8 + cond_dim: 111 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 8 + act_min: -1 + act_max: 1 + obs_dim: 111 + max_denoising_steps: 20 + seed: 42 diff --git a/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/denoise_step.png b/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..5c6efac84b41c550ec7a101b6d7e49b7bc719fa2 --- /dev/null +++ b/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8b0ac82e745e342193798c2f05f51cd1d7c5a8b92a5b9ca600dfa31579c2154 +size 167591 diff --git a/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/eval_statistics.npz b/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..f2e1adf32f43a571a9b9e16370e4c5c9342da67f --- /dev/null +++ b/visualize/0_Models/ReFlow/ant-medium-expert-v0/25-04-26-15-07-11/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:501a494be00ab5bc48dc554848debf9529d34e7287638af1cfd7e0ac0c7129eb +size 1718 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-12-43-29/cfg.yaml b/visualize/0_Models/ReFlow/can/25-04-12-12-43-29/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4700aee317e6b1139c494dea4b87989a46377113 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-12-43-29/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-12_12-43-17_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:1 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-12-12-43-29/denoise_step.png 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b/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c99153be64be187b81bbf4fc395a248b4def404 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-12_12-56-55_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:1 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/denoise_step.png b/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..c786cea177b3af060b99a15c6b88663c91b25572 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:989eb0403a833f2137fee06dd88fb4f1967e74f900ada7a8ce75c04ff9a1fd98 +size 103189 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/eval_statistics.npz b/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..dd9814a0cf86ec6c879d946ae285adb04dc849a6 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-12-57-09/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09b06f6dd8e968b6544036c51f82347655047fe4d9a5c2cf47f2a1fde60cb233 +size 822 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-13-01-04/cfg.yaml b/visualize/0_Models/ReFlow/can/25-04-12-13-01-04/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e87a5424dc3b643af7ecb1285704dcd8db74b990 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-13-01-04/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-12_13-00-52_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:1 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/cfg.yaml b/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd4f0d148e2c9e5b8964848e5ddae4372a3dad23 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-12_13-03-10_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:1 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/denoise_step.png b/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..d34173a43cb94e21beafcc4eb02cd0c741c7ea20 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a81766b9d90facd91b5616f1aa46305ec914748967130f4411b64e0939720cfc +size 152666 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/eval_statistics.npz b/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..fea965d9d7bccf483e2fbdf77ee567eee5807eb0 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-13-03-22/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ad4604d35821439d0efd0b4c6965c58bd9f4384293dc2da3d58d74c66bc3e57 +size 1046 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/cfg.yaml b/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..413db6202d6059a4e5ce8241bfd341217be5a8d9 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-12_13-12-17_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:1 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/denoise_step.png b/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..94ebac7d4cc376e6598df1eff2778f35ab1f1c0b --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24c8dbd82a29a35284c5a48af8938805152eb9c47ac224f7847df7d505312bc9 +size 157569 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/eval_statistics.npz b/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..a2f06e1f8b736c19518605578b819ae87ea6a461 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-13-13-43/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:380748c3d5c62e554009c3fed2e00ff0e0cc462fa0de7cccb642cee2519fbbdd +size 1158 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/cfg.yaml b/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe641534dc148397c640bf41baf116e8608d6967 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-12_17-52-46_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:1 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/denoise_step.png b/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..b11cbb2bb0ac6b6ccfc86560b0f464f391f64a43 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38726173a245b6b2f7854f6ae943da5e28d0d63d800208c7e26ba06e8593efca +size 157705 diff --git a/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/eval_statistics.npz b/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..c2fbd7c4c42ade5ff549b3cf2e00a7437c2aa221 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-12-17-53-57/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c20ec92078cd37d04dc603d90685e410538e2e3243ae5747d68bbdb16225e911 +size 1046 diff --git a/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/cfg.yaml b/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a2a60ad25e7760c53906e87e53bf723a6e97419 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-16_21-53-56_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:3 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/denoise_step.png b/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..5d75cc67726225abd6ded35ba56de01ca151cfaf --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae7194613fa048cb993d2e3c9612016e7f6617bd58356f88c53340668a7cd5c5 +size 160991 diff --git a/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/eval_statistics.npz b/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f2dc27eb8829a36661aad6141f847d4a4718b5c --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-16-21-54-52/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb96201c4895d0b8ba30af62c981d47c77d8d07210d8e0ce93c8f16a417b659b +size 2838 diff --git a/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/cfg.yaml b/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a44937a396aea52b7bee969dcaaddd67210fe715 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/cfg.yaml @@ -0,0 +1,107 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: can_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/can_eval_reflow_mlp_img_ta4_td100/2025-04-16_21-53-47_42 +base_policy_path: log/robomimic/pretrain/can/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:4 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 100 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:4 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/denoise_step.png b/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..ebd16089700ce957f8e614dc2613a52f672716b2 --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3f0fbe1064c4dfdfaa882eb21f8bca9981e4cb0d0db8dc6ed180dbca00d1a55 +size 157186 diff --git a/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/eval_statistics.npz b/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..489e931a44152a81d255de1dd8897bc12e881cfd --- /dev/null +++ b/visualize/0_Models/ReFlow/can/25-04-16-21-54-53/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e31c86bee1db2a14766790fb9c046f63396d4008b3f3f0dc890dbe45c7660592 +size 2838 diff --git a/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/cfg.yaml b/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..37ad4fb93d9000488d82811820f38dc93271fae0 --- /dev/null +++ b/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: halfcheetah-medium-v2_eval_reflow_mlp_ta4_td20 +logdir: log/gym/eval/halfcheetah-medium-v2_eval_reflow_mlp_ta4_td20/2025-04-26_15-06-31_42 +base_policy_path: final_experiments_record/gym/pretrain/halfcheetah/reflow/2025-04-17_23-14-03_42/checkpoint/best.pt +normalization_path: data/gym/halfcheetah-medium-v2/normalization.npz +seed: 42 +device: cuda:1 +env_name: halfcheetah-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: halfcheetah-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/halfcheetah-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:1 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 20 + seed: 42 diff --git a/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/denoise_step.png b/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..0f8b5d5570f7b1d5dac912a875e5ad72298a6514 --- /dev/null +++ b/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:988f3e9b46b103a58196c1c9d7dce56af3a30cf458e7c2a45107649cab59530c +size 159063 diff --git a/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/eval_statistics.npz b/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..9efbae1260ce955d24a784f023b017ecd5aec0f1 --- /dev/null +++ b/visualize/0_Models/ReFlow/halfcheetah-medium-v2/25-04-26-15-06-38/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a9f44185c1ad01240227f2db72a6a585eded085d6913ab38e9af7e115246713 +size 1718 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-10-06/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-10-06/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..097e7e2b6c1ec193e99f7977435f0ba7c8a65e2c --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-10-06/cfg.yaml @@ -0,0 +1,58 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_13-09-59_42 +base_policy_path: log/gym/pretrain/hopper-v2/ReFlow/2025-02-06_01-35-03_42_state_1500.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 4 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-06/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-06/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ebbd00d50994488dbf596c1f604e53abdfdb89d4 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-06/cfg.yaml @@ -0,0 +1,58 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_13-10-58_42 +base_policy_path: log/gym/pretrain/hopper-v2/ReFlow/2025-02-06_01-35-03_42_state_1500.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 4 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c0b7973e5102290313150371de5c6d9392fa67ed --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/cfg.yaml @@ -0,0 +1,58 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_13-11-30_42 +base_policy_path: log/gym/pretrain/hopper-v2/ReFlow/2025-02-06_01-35-03_42_state_1500.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 4 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..c4de76dca7a202ce915de372af0780007d30737f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66e5d58eacd72b407b2caa707db9a91604329b319ede52c7af7b2eb7c761e8ed +size 116613 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..e68ca34bb196a04af15ba4f953446d704224fbfe --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-13-11-40/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b739e4206e235a1ed2edf755986715ea277e88d9434905194f5b81157f07330f +size 822 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-18-24/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-18-24/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0cb267be5e2eb2308d58afd6ef0b6f669c37ce35 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-18-24/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-18-17_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/64/checkpoint/state_300.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-19-55/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-19-55/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7a4b98b4cf38b1d88e6e3eba724914d5cc9c794 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-19-55/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-19-48_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/64/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-23-20/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-23-20/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e3645c1789da79e3f9dd1b0bf8c380bf30ada5d --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-23-20/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-23-14_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/1024/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..851d6d7f9c742566274de1554b9eda406e14f019 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-36-13_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/64/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..4e7e74facf521e774f958a56669f83e17885a54f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:240820e22dd378906c47dedfe005c218a029f9fa91c651f0860b511b493c2358 +size 159383 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..37d14444aaaeda4be9e2df544d7f9187ca5a36d9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-36-20/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8675758c506ba37e3b336e14a7f7ba331cc7031a4d1a82e3d42c6f33c51b2fae +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..157b775a5867a16ee6a5afe75a7bb2d276fdbdca --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-37-20_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/128/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:1 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:1 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..f38e149c15f7c8cc257de2d588dbe25d4f588783 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dc9ec40074bf307118b05ff1536d6c06c29dae3428dc4774dfc63a507be05e4 +size 161337 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..eafe92510198b7c2e2d70b493ee66ce5e718d227 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-27/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a26717321b30273733a8e7849179374428ad00ee361db448e1207a1f869afa70 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0647b24820d7afe71d21d4eb804c4754d3f8d8da --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-37-32_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/256/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..4291ed552dbbe9a06e7e98e6133948911f6faebc --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0622e50c75c755658062a688285631ca18e7ebdd9b656a0900719707e1c82640 +size 175033 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..12f5e307b940cdb0a0025f058cfad633022a64de --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-38/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8495d4318c50bc511130e5f09c8f0ea057152c9fa9751e432066dc1cce160a0e +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b271dfc474d9d87a09a5582bcbe09007d5848801 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-37-43_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/512/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:3 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:3 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..74c7f97e1658c05c2ea5312245ba3574e29d94f3 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd00f7fb44b810ab657dbde7154165f2fe9b336cdf849276152620f7f20c4545 +size 166569 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..b94d3bff14aaff7acc58bb9933ea533ae7b946cf --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-49/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f459434b60eec2a117156dfe229a4830132aa78406f33367fe740eeb5b608f5 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b123553ad3a711b4093bb94fc2d8d10463f45cc --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-37-51_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/1024/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..11e8f8f99778340c701427012bc028ef2f803ebe --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d381114e76f49fa9465b1bdac486c26f9e1dd36fa57085ee8a2a0316da458b30 +size 161779 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..9cfbb69ea60c980212e9504dbe5335cdac555c1e --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-37-58/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48984a4f9f5d442af5cc0df68dc79f6681f8d8cbbfde4c4cd227e2ace647783f +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27119366405420cb340c785d2d215b680e2cb5a3 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_19-41-26_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/2048/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:5 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..984c5b4611a7c3f22eacdc5b0e3a8facac51529c --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96fa6a9e85a24a0db9b4e193518c0a946bab3ffaee3e9136d6cb847858091f54 +size 165845 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..a087a5d2c3d7502ac9249093c6a67e60ecc1944f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-25-19-41-32/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b5f21389bbd9303be82e7d47fc4a91e4c04106a05cd4c096a5c18548e9dc253 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-08-03/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-08-03/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c3b2cf90350d9fe7e11b7bb309c8b2394a6526db --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-08-03/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_12-07-57_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/64/checkpoint/state_200.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9cd8afede1a993cc5ba1fbcbb73ebe911d96ed8c --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_12-10-35_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/2048/checkpoint/state_300.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:1 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:1 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..de29c018a7e7207681d5e706ff4eb0b044a6c2d0 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a657cee627f051c1014eb8adac51b1f2fcdd2785ad091810e1a8fe58c1ed60d5 +size 165183 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..197feff06598cc63b21ac08e0a6470fd268a48d7 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-10-42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c3dd3c9ce8199ab095b94f24def87fd126cafa0641239dcace7032ebbca16df +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-12-15/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-12-15/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..834797d5181fbd4b4a7520ff00244ef60cb4af1e --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-12-15/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_12-12-09_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/2048/checkpoint/state_200.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-20-49/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-20-49/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5192af4304a6596fa5d6b9824a283d5c94814a95 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-12-20-49/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_12-20-42_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/64/checkpoint/state_300.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d4540a6e6810acab33343f9521fe588c4baec3c9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_13-44-21_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/64/checkpoint/state_1400.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..85733c9281465d7cd22c4ca1b765a14c5b65ba2f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87d39ee2d80c8535b7372a8285bc1ecc3d1f41cf07c4994b612ada6dd31f8b76 +size 164227 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f6e4d46606c571f07e3d682b62531836a6b8739 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-13-44-28/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1574fbca74503deef740f2203eaa12bbaffd3dc33fea502669ba0adf16369f4 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-52-57/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-52-57/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d57656e467100051d20eefdd1fc5fe423915156e --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-52-57/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_14-52-51_42 +base_policy_path: final_experiments_record/gym/pretrain/hopper/reflow/2025-02-06_01-35-03_42/checkpoint/state_1500.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43554511b24ae304f37310ad8902b05058bf08c6 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_14-53-15_42 +base_policy_path: final_experiments_record/gym/pretrain/hopper/reflow/2025-02-06_01-35-03_42/checkpoint/state_1500.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..3c2deed86e8b9accfc970b980657780f9cbdcee1 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d1bc742251af802d4b02bb4c182202e5386ba5fc8f5e64f7ed16fb4e753abda +size 164225 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..dc8d46ac18f9ff53ba595aa498bc11c63e9a9c3f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-14-53-21/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93dcd429ba8afcd303528cddac1259d101ded98bd968d922e21377036ea204bd +size 1718 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-16-17-40/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-16-17-40/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..944b914cfd5f8bb3c2bba7905f698778436c099f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-16-17-40/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_16-17-33_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/2048/checkpoint/state_500.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-16-17-40/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-16-17-40/denoise_step.png new file mode 100644 index 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b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-16-40-53/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51733dc3c95aae193f65c39b70c77d7847011235 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-16-40-53/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_16-40-46_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/64/checkpoint/state_500.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-00-52/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-00-52/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86eda649e057426e7d2326220acde3e2213c1a54 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-00-52/cfg.yaml @@ -0,0 +1,58 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_17-00-46_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/8/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 4 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-00-52/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-00-52/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..337f201b5a18965129b67d1566c12c26b426a4b5 --- /dev/null +++ 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0000000000000000000000000000000000000000..3a7d3a83d27140f17fbafd644e13f521d532bcf9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-02-03/cfg.yaml @@ -0,0 +1,58 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_17-01-56_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/16/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 4 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-02-03/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-02-03/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..4fe500c52014cc934c34fac05a6fe67644d9286d --- /dev/null +++ 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0000000000000000000000000000000000000000..b2a4087b0bb5396394647a7f4db3449963804e13 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-03-22/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_17-03-14_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/8/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-03-22/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-03-22/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..da61f55cbaad87642f55f622302fa5101840ce94 --- /dev/null +++ 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0000000000000000000000000000000000000000..b00d1a52a0cdcfe8b5274b40ee1a6d5b66da8a77 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-03-24/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_17-03-18_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/16/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:7 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:7 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-03-24/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-03-24/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..d417ca651ebc83d5ac4a16de530a78751dafe87d --- /dev/null +++ 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0000000000000000000000000000000000000000..2a5f248e1845455b24371a441fa6f2161cd1ade9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-07-51/cfg.yaml @@ -0,0 +1,58 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_17-07-44_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/32/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:7 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 4 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:7 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-07-51/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-07-51/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..0356ac248ae425c4966f1a5ad26b33ff391e48d6 --- /dev/null +++ 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0000000000000000000000000000000000000000..44051b5ee1e75ac5bfb49c37b11b77011d0f8d83 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-09-00/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_17-08-53_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/32/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:7 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:7 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-11-06/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-11-06/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e9d50fd3a0b6bb26b55c22ec1ade298d6c8b6b6 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-11-06/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-26_17-10-59_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_reflow_mlp_ta4_td20/hopper-reflow-different-data-scale/32/checkpoint/state_100.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:5 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-11-06/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-11-06/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..895154e692f971f348540273073fe6da2a84aa59 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-26-17-11-06/denoise_step.png @@ -0,0 +1,3 @@ +version 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b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-16-59/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-16-49_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-17-32/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-17-32/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c8ab25064726b36ff1aa15ed034d2f053ba22fda --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-17-32/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-17-25_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-20-03/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-20-03/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ded31e5ab4d4bc8200652208170c1be7f545d8ab --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-20-03/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-19-55_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-20-36/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-20-36/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f15e79cda1b70b7fe3fdffe54ef8d748dd206067 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-20-36/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-20-27_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-21-10/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-21-10/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10c4ff2b3ff46c504d160fd9cc6bccb40612114c --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-29-11-21-10/cfg.yaml @@ -0,0 +1,67 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-21-02_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-30-14-01-00/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-30-14-01-00/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..460d698a352e0144366f4d9af1ffc9cf998586f4 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/25-04-30-14-01-00/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-30_14-00-50_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/2025-04-29_11-03-18_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: null +seed: 42 +device: cuda:3 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:3 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git 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sha256:4fb453bce42e5e2c4d14516da573fd4af6577e48c1679a7ece7b2da8f3dd0b95 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6f4f854ecb9d683e163c543638d94d46e7914ee2 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/1024_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0 +seed: 42 +device: cuda:7 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:7 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..2986e4793497293bb184b95ed3eacd41ff4c7b7d --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7412a49daf8b4db8255ed52544857600049d57bac967211539564d402b2a649 +size 157548 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..aa563ceb609aebd9a1ab2c2411e99855b400d1f0 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed0/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e01c44da31781f1227950de686eb059473dbd9b37f8192cbe63edecf5b3baeb +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c964016ce950da999252e315aa2deccb34b97293 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/1024_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407 +seed: 42 +device: cuda:7 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:7 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..6015158563e0af281ead796a7d1e0f6e170cc209 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:345a6e6093fb6f485282e024e37c1e2819b3bc8b07397e8dbb65edccc003d22c +size 155903 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..53e4167bf87848e7b14ba23d5f6c3630fc2b77cf --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed3407/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e816425d92000a1d7b2e149772360daf7b976ce09a201ef97c30c434ed08ee8 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed42/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6634602344e864acf7842344705597ae387d0127 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/1024_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed42 +seed: 42 +device: cuda:7 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:7 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..0b2db48512367fdb4639a8eb1f97c1410dd0534b --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/1024/seed42/denoise_step.png @@ 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0000000000000000000000000000000000000000..a6ada1f929437427fa3c95834100a430191db885 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/128_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed0 +seed: 42 +device: cuda:4 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed0/denoise_step.png new file mode 100644 index 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a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a7972603acbcff994d5c903def46891a8a9ef3cd --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/128_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed3407 +seed: 42 +device: cuda:4 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git 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-0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c24c1919097b77f8109b920a616fc4153037691cd8aa0672f433d681a618790 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..62d559e20fee37b0e68fab4968954461298733e2 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/128_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42 +seed: 42 +device: cuda:4 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..10b665fd8c5ab54cfdd9165d5f4c40959be77570 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbf8b3f300e219d8fcdbc15b656a7ff6f181cabff66d23b65d8728eb4eb06aa8 +size 152208 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..a9a82336f8096af3f63bbf130ea8b0767944a58b --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/128/seed42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f5e859974f154c243e94e41c25a59725147715a0e878b0310133c2fbf1e8a67 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81434bdef45d8526f0bd6ae2b4f00a2589eb018a --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-39-50_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/16_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0 +seed: 42 +device: cuda:1 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:1 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..41cdad0fdcae36f6da589f6410cf871fb90be582 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a86837dc5ebb428412c7d0d5376272722b0683e6647e1a10ce63dab3bb80a5d +size 155508 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..dafdd252bd661c08d0080bf75d10540498b56ff0 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed0/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8729fff3d4b7cff60cf10ba2fc4d9b454dcbafeaa5d71488615d20c7e0016c16 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..460d698a352e0144366f4d9af1ffc9cf998586f4 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-30_14-00-50_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/2025-04-29_11-03-18_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: null +seed: 42 +device: cuda:3 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:3 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed3407/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..90b54b2501bc2c07da83120144c4473866323b11 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed3407/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-27_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/16_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed42 +seed: 42 +device: cuda:1 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:1 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/16/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..e5908a8360a75efeb003c5bf88562f4440495927 --- /dev/null +++ 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file mode 100644 index 0000000000000000000000000000000000000000..22892f93b9a02c3c05c3dba95081c12114e1ae05 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/2048_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed0 +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed0/denoise_step.png 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sha256:264707f4933b37de6b8714d72df13c7bec36faca898edae8a2c30ac569027a65 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3c448fa3fa2a4bd94035f5a8f7e2a2b0674376e --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-25_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/2048_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407 +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..667c7ff9ccf1d628cb62503d0e45da3ff23efa74 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eacb562ac4a212c0d5a0cf325c3ed96dc551b87c73002bf1badd1f62a1cd83f5 +size 149251 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..20121a3edf6e66d55d746a9ae6a4285ed5ac41a9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed3407/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fb633fdc1fc2a2d9bf466879a49486ccfb766a14b58e4b2343fbc48f474a948 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fce6e301fa39876abc17e46ee1ab0ec3a504c2d6 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/2048_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42 +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..ded5dba18156411ff155820913e6e29a67807d60 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:422c34a4c358048ec07e5fbd4d6ef5397f4a1de638d5462e5bd9b902692dcd8b +size 165015 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..b3d9497899537cfed380b67c9b33c4b1ce243ef9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/2048/seed42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7e1d96104d51e99887c1a1422d2b39fb0e4cd4e03944dffad21c1cb16d3fcf7 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed0/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed0/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1f403e45c3c73436e3ecd898b1c1e2f1972371b9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/256_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed0 +seed: 42 +device: cuda:5 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed0/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..31cedbe3174092495ee5f3a35f5fd7009bbcc8bc --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed0/denoise_step.png @@ -0,0 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0000000000000000000000000000000000000000..2c9da7ea7076623c676f2a85ddbc671138782e6d --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-25_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/256_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed3407 +seed: 42 +device: cuda:5 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed3407/denoise_step.png new file mode 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a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db86fb8372cda00ee679a28ed524311386fd0124 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/256_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42 +seed: 42 +device: cuda:5 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..49c3b5f60f5ba7d2e1d695f072efa10d1e45a3e2 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b4e2115f02bfced81bbeacf4bd5713e8d16cf70d271f7d2916febf58dfaf6ca +size 147729 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..192b32be5ec7a56faab4896fd0582242d1f9c34d --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/256/seed42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f6dc6243892de3bf404fb4ddb21a94f03ce592325a04113d437f63fea4a9efd +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6f4e90e7a9597eaac57a981fa08e4ec31f7867e --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/32_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0 +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..01d156a82702d828bbfaec1b6c9c8634a8048eab --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7e9633035ba47798e758b990a17aa471127b314901ca29eb4158cf18faa0968 +size 161153 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..9d3b04bf58c6a504e69f3b14280f0be061a1c674 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed0/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab4b79657e238704e3e36bf0c9188e39a7679a19f62c3828b677f8d82942de9c +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..610598a3c73c26b9c26df3e0437b93041fa81964 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/32_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed3407 +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed3407/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..3f81d3c512fa648d486d62e733f0b37695cadec0 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed3407/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2c1b7ec9712f3d499ec22298ae83d7e5d160fe9ea8c4fcbca6e35024ab6d584 +size 168761 diff --git 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agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/32_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed42 +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..b9a0c6e7d826f11bbbfb80a86435046413424ba0 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/32/seed42/denoise_step.png @@ -0,0 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0000000000000000000000000000000000000000..f4c31142e1170f264153ebacee23bddf710d92c4 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/512_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed0 +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed0/denoise_step.png new file mode 100644 index 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a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..829d4e63f3d626eb257ff02b791b08755426ff98 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/512_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407 +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..e9eceee0b832b2606857b7b45301988868faf1e9 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5eee26640d34ce7b828ce344a23cb6e06a22f78201bbf01e602ed2a7f1a18a1 +size 148941 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..ef4d426bd9a9b80fee0e68ba2860995b8bd91664 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed3407/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c00159f92ebd864dcebdff6692c676c9fc32fadf4c6b461e3035b288745eb8e9 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..882e30f503317079e7f63fb26b3532eca4317e8c --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/512_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42 +seed: 42 +device: cuda:6 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:6 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..3f167d9fa218db8d2b367e2924b34f8ebbc9facc --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e4003d584ab0df401fa9322c20884b253173abf835e8c630509d7952829a8a9 +size 163020 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..295c039081e3e5d59103707a1bf3a7915a8a7f14 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/512/seed42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de031dbd88c966a12742fd38b13e85adcca90a713f5e35f58ac5fa9783a4b5c7 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83604443c0a5618d80ff8aa3b040b2559719599f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/64_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0 +seed: 42 +device: cuda:3 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:3 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..438150e7f6bfa6fab94f7007361b4b4c83d14aff --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f53cef758fc02f8b1e6e6a15cb3073f10664457869155734dbfe9bde3c2577d3 +size 157692 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..31f55efae6781df4d9faff817d91008ce47b8a7c --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed0/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:298823814a15b9d1b7fda6a61249befd63cfb5463bf1bfe3f309faa96c16bfff +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06f95dc642a1dc56f0ed01290931743c2cfc0e91 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-27_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/64_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed3407 +seed: 42 +device: cuda:3 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:3 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed3407/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..917fd480d549e7419929991320a69a5091c9cc9f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed3407/denoise_step.png @@ 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0000000000000000000000000000000000000000..3d773eedb2cc381cee8b026c9bd37f817db517f8 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/64_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42 +seed: 42 +device: cuda:3 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:3 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..5c231df6e19025d3d0d3b7cf341809d6288e6a73 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d833bd8983fa0b794fea76b8022c9faff0d1b130916da81266d92c0ab4e1e036 +size 171367 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..a85b02e76466a9c77559d405dc64f4fc08848e21 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/64/seed42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09c0b7804dcbd4782a7237002bef20e6e91d63f4c7ae1fd46eab7d80510cd7a5 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..754f0a11cff9d3b657189e0c2ff196a9e630954a --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-39-39_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed0/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0 +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..e9b43c8f41f900671fc99627518a542765137a8a --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29919c30f5ca051f3dbcbba1d8c311ac6a61552575ba0fd4ed363b77b379d83b +size 150916 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..82abca2e8def5ddc066326bac4ccad4839638eaa --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed0/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f388a239e2d2a5f01f5533b3d1d2f01912207595e48b2b0666893de60fe2f3c6 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11247d9e551255d760f3dcb55e484386f69b761d --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed3407/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407 +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..fedc4df5b0b50dddf4f994ef6c099b6e9d597d25 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27842c3987aaf8b8b09404b8cbbf8bcef65a166d125f6bea60b25c99dc12674d +size 154520 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..2c0352375d019464f33ede9ce10f046604c75de5 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed3407/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37114104c24a93dcc27307fbb9fe3eb603cbc91f63398f3ffd9142f5b6a21741 +size 1830 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/cfg.yaml b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d52b14b34491377c6851259ae1218f3e36db641 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/cfg.yaml @@ -0,0 +1,68 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-29_11-40-26_42 +base_policy_path: log/gym/finetune/hopper-medium-v2_ppo_reflow_mlp_ta4_td4_tdf4/hopper-datascale-reflow-finetune-transfer/8_seed42/checkpoint/state_999.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +eval_log_dir: agent/eval/visualize/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42 +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +- 512 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/denoise_step.png b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..9d8a54408a4d209408028428a9a889aef433f76f --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9e54a1fb7d09eeb1143e38b48ce60632eca208a1b09cb8f63cf66ef8379f99f +size 150529 diff --git a/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/eval_statistics.npz b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..91d051b13fdb9e6c9aa60fedddf7d24a67fd0902 --- /dev/null +++ b/visualize/0_Models/ReFlow/hopper-medium-v2/datascale-finetuned/8/seed42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cd1bcfb9239d4944cae1986f497f6765a261c94d2efdb00d357d48464ae18cd +size 1830 diff --git a/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/cfg.yaml b/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e68f8cd96bf0e00c893e349fe220041e9c2280f4 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/cfg.yaml @@ -0,0 +1,108 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: square_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/square_eval_reflow_mlp_img_ta4_td100/2025-04-12_13-12-29_42 +base_policy_path: log/robomimic/pretrain/square/ReFlow/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:2 +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +denoising_steps: 100 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 1 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:2 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/denoise_step.png b/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..564735713217547cb1f453bc86dc5ef53a61e1e8 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6404d91624b8d9a226ade9f9359ed8e1d96e9c1fed8c7542c7f3e26928b255c0 +size 152310 diff --git a/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/eval_statistics.npz b/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..e0294ef26801a6f6e6f18c5dbd62462fef67d4f9 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-12-13-13-44/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a567ffeff466ae3af6d403465461ee1e56fc39b4de62e02ac8f5df4b7b64a8f +size 1158 diff --git a/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/cfg.yaml b/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e1ad0f8402237aefe27bfa16e4fd02084cc5e08 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/cfg.yaml @@ -0,0 +1,108 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: square_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/square_eval_reflow_mlp_img_ta4_td100/2025-04-12_17-52-54_42 +base_policy_path: log/robomimic/pretrain/square/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:2 +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +denoising_steps: 100 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 1 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:2 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/denoise_step.png b/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..f33029b18c499145d5174f59d58c3888357d9d14 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d971e8ecd49c525e24d1c0ebe37a8e08f78170bc81c7586e1f5b93b81833b7f +size 151638 diff --git a/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/eval_statistics.npz b/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b2f0722f238c42fd90921a234126aceb85128bb --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-12-17-53-55/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65c11a943744b46fe6a5dfb5f3bbcf0d43de5c87d8433d7a3bd484b6c8202fac +size 1046 diff --git a/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/cfg.yaml b/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..463eb807c700b4271a848ba66c6a5ff27437fe88 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/cfg.yaml @@ -0,0 +1,108 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: square_eval_reflow_mlp_img_ta4_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/square_eval_reflow_mlp_img_ta4_td100/2025-04-17_10-03-18_42 +base_policy_path: log/robomimic/pretrain/square/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:7 +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +denoising_steps: 100 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 1 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 9 + horizon_steps: 4 + action_dim: 7 + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/denoise_step.png b/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..58b289872ba516e8672817d2d7b97a82cf3abfe0 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbdf132f3a453cbf726487c3252523bfbb0ee1a503644a1498d1b4d7abe2acde +size 153878 diff --git a/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/eval_statistics.npz b/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf5c2a5fcfeb114fc2f6d3bcca385f509298f113 --- /dev/null +++ b/visualize/0_Models/ReFlow/square/25-04-17-10-04-06/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c50067372a98c4e712501a9ea0d941bb473e469d19ceaf68db8e64d9beb6ca35 +size 2838 diff --git a/visualize/0_Models/ReFlow/transport/25-04-12-13-17-10/cfg.yaml b/visualize/0_Models/ReFlow/transport/25-04-12-13-17-10/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..072fdaddd055cd30e42bde0617774c040dfbe30c --- /dev/null +++ b/visualize/0_Models/ReFlow/transport/25-04-12-13-17-10/cfg.yaml @@ -0,0 +1,115 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: transport_eval_reflow_mlp_img_ta8_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/transport_eval_reflow_mlp_img_ta8_td100/2025-04-12_13-14-23_42 +base_policy_path: log/robomimic/pretrain/transport/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: transport +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +action_dim: 14 +act_steps: 8 +horizon_steps: 8 +denoising_steps: 100 +ft_denoising_steps: 0 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 2 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 18 + horizon_steps: 8 + action_dim: 14 + device: cuda:3 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 100 + seed: 42 + batch_size: 128 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/transport/25-04-12-13-23-08/cfg.yaml b/visualize/0_Models/ReFlow/transport/25-04-12-13-23-08/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2a573500fa20b147d55b9be5e6a2440b63bb366 --- /dev/null +++ b/visualize/0_Models/ReFlow/transport/25-04-12-13-23-08/cfg.yaml @@ -0,0 +1,115 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: transport_eval_reflow_mlp_img_ta8_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/transport_eval_reflow_mlp_img_ta8_td100/2025-04-12_13-22-40_42 +base_policy_path: log/robomimic/pretrain/transport/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: transport +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +action_dim: 14 +act_steps: 8 +horizon_steps: 8 +denoising_steps: 100 +ft_denoising_steps: 0 +n_steps: 400 +render_num: 0 +batch_size: 256 +env: + n_envs: 1 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 2 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 18 + horizon_steps: 8 + action_dim: 14 + device: cuda:3 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 100 + seed: 42 + batch_size: 256 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/transport/25-04-12-16-53-31/cfg.yaml b/visualize/0_Models/ReFlow/transport/25-04-12-16-53-31/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f75e6bcc4d114baf892e15b4536c25aa7b524011 --- /dev/null +++ b/visualize/0_Models/ReFlow/transport/25-04-12-16-53-31/cfg.yaml @@ -0,0 +1,115 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: transport_eval_reflow_mlp_img_ta8_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/transport_eval_reflow_mlp_img_ta8_td100/2025-04-12_16-52-38_42 +base_policy_path: log/robomimic/pretrain/transport/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: transport +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +action_dim: 14 +act_steps: 8 +horizon_steps: 8 +denoising_steps: 100 +ft_denoising_steps: 0 +n_steps: 400 +render_num: 0 +batch_size: 256 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 2 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 18 + horizon_steps: 8 + action_dim: 14 + device: cuda:3 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 100 + seed: 42 + batch_size: 256 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/transport/25-04-12-16-57-07/cfg.yaml b/visualize/0_Models/ReFlow/transport/25-04-12-16-57-07/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..00bb95510f5e4281cb6331fda43ce55d20fcb48e --- /dev/null +++ b/visualize/0_Models/ReFlow/transport/25-04-12-16-57-07/cfg.yaml @@ -0,0 +1,115 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: transport_eval_reflow_mlp_img_ta8_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/transport_eval_reflow_mlp_img_ta8_td100/2025-04-12_16-56-57_42 +base_policy_path: log/robomimic/pretrain/transport/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: transport +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +action_dim: 14 +act_steps: 8 +horizon_steps: 8 +denoising_steps: 100 +ft_denoising_steps: 0 +n_steps: 400 +render_num: 0 +batch_size: 256 +env: + n_envs: 1 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 2 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 18 + horizon_steps: 8 + action_dim: 14 + device: cuda:3 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 100 + seed: 42 + batch_size: 256 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/transport/25-04-12-16-58-13/cfg.yaml b/visualize/0_Models/ReFlow/transport/25-04-12-16-58-13/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..01c296814f54f4e64cb3839ab42ef645920fe2db --- /dev/null +++ b/visualize/0_Models/ReFlow/transport/25-04-12-16-58-13/cfg.yaml @@ -0,0 +1,115 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: transport_eval_reflow_mlp_img_ta8_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/transport_eval_reflow_mlp_img_ta8_td100/2025-04-12_16-57-58_42 +base_policy_path: log/robomimic/pretrain/transport/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:3 +env_name: transport +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +action_dim: 14 +act_steps: 8 +horizon_steps: 8 +denoising_steps: 100 +ft_denoising_steps: 0 +n_steps: 400 +render_num: 0 +batch_size: 256 +env: + n_envs: 1 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 2 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 18 + horizon_steps: 8 + action_dim: 14 + device: cuda:3 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 100 + seed: 42 + batch_size: 256 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/transport/25-04-12-17-27-25/cfg.yaml b/visualize/0_Models/ReFlow/transport/25-04-12-17-27-25/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe56cb7f34a075d843decaa1273681f6358b478c --- /dev/null +++ b/visualize/0_Models/ReFlow/transport/25-04-12-17-27-25/cfg.yaml @@ -0,0 +1,115 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: transport_eval_reflow_mlp_img_ta8_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/transport_eval_reflow_mlp_img_ta8_td100/2025-04-12_17-26-16_42 +base_policy_path: log/robomimic/pretrain/transport/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:4 +env_name: transport +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +action_dim: 14 +act_steps: 8 +horizon_steps: 8 +denoising_steps: 100 +ft_denoising_steps: 0 +n_steps: 400 +render_num: 0 +batch_size: 256 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 2 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 18 + horizon_steps: 8 + action_dim: 14 + device: cuda:4 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 100 + seed: 42 + batch_size: 256 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/transport/25-04-12-17-53-58/cfg.yaml b/visualize/0_Models/ReFlow/transport/25-04-12-17-53-58/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..927c82f1ef9c1285ce2ce36abb073ea2ba0e4e46 --- /dev/null +++ b/visualize/0_Models/ReFlow/transport/25-04-12-17-53-58/cfg.yaml @@ -0,0 +1,115 @@ +_target_: agent.eval.eval_reflow_img_agent.EvalImgReFlowAgent +name: transport_eval_reflow_mlp_img_ta8_td100 +logdir: ${oc.env:REINFLOW_LOG_DIR}/robomimic/eval/transport_eval_reflow_mlp_img_ta8_td100/2025-04-12_17-52-08_42 +base_policy_path: log/robomimic/pretrain/transport/ReFlow/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:4 +env_name: transport +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +action_dim: 14 +act_steps: 8 +horizon_steps: 8 +denoising_steps: 100 +ft_denoising_steps: 0 +n_steps: 400 +render_num: 0 +batch_size: 256 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.VisionFlowMLP + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + img_h: 96 + img_w: 96 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + img_cond_steps: 1 + augment: true + num_img: 2 + spatial_emb: 128 + time_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + residual_style: true + cond_dim: 18 + horizon_steps: 8 + action_dim: 14 + device: cuda:4 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 100 + seed: 42 + batch_size: 256 + sample_t_type: uniform diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/cfg.yaml b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83311f10b4596cbc2ff04a0b184960a7b34a0020 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/cfg.yaml @@ -0,0 +1,57 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: walker2d-medium-v2_eval_reflow_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_reflow_mlp_ta4_td20/2025-04-15_21-09-17_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_reflow_mlp_ta4_td20/2025-02-06_01-39-14_42/checkpoint/state_1500.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 50 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 20 + seed: 42 + batch_size: 128 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/denoise_step.png b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..f638a81f5f5f116d842563188f228fa0fd4eb80b --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9defc4570174a7e7519a7c6e79d06e5e3dc37bee1df649f16be1e30df029a730 +size 180875 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/eval_statistics.npz b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..a46ceff70f1bb94e91b326e4bed9633353794d30 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-15-21-09-24/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b6d04a964a0b376fa1094c8dc7a4c9746491e096daba524edc0311cf7bd8852 +size 1830 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/cfg.yaml b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2d6cede1eaaae1aeca4f176f507081043f4935dc --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/cfg.yaml @@ -0,0 +1,57 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: walker2d-medium-v2_eval_reflow_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_reflow_mlp_ta4_td20/2025-04-16_13-43-25_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_reflow_mlp_ta4_td20/2025-02-06_01-39-14_42/checkpoint/state_1500.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 50 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:2 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 20 + seed: 42 + batch_size: 128 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/denoise_step.png b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..17c9bc20f6ef24d6972fae0212b8b37161e726db --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7f0c41bd7c1ef5ffcfbbccb0f77d578ff09975eaa080ebf565def48998f23f8 +size 173377 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/eval_statistics.npz b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..67b210509b977ce255cbdc3eb772f4598ca53db1 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-13-43-32/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:664c33d60598a011402f18cd377fefbcf0357c02e56df518422e4bcf45dd37a0 +size 1270 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-14-00-00-merged/eval_statistics.npz b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-14-00-00-merged/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..8551617513696f25addf2d2cf6b76826fdc613cc --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-14-00-00-merged/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42d037499b945a0e9db7ecf6d85ce262e5a06e6fb7a97839343c6397c8e225fd +size 2390 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/cfg.yaml b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fade44115df2ee41bfcf001d33e684d60f1e6c87 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/cfg.yaml @@ -0,0 +1,57 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: walker2d-medium-v2_eval_reflow_mlp_ta4_td20 +logdir: ${oc.env:REINFLOW_LOG_DIR}/gym/eval/walker2d-medium-v2_eval_reflow_mlp_ta4_td20/2025-04-16_15-27-33_42 +base_policy_path: log/gym/pretrain/walker2d-medium-v2_pre_reflow_mlp_ta4_td20/2025-02-06_01-39-14_42/checkpoint/state_1500.pt +normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:7 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 50 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: ${oc.env:REINFLOW_DATA_DIR}/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:7 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 20 + seed: 42 + batch_size: 128 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/denoise_step.png b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..5108439a18d7b3af31d9a2ff84e8cbf6917f1f93 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3dd0198f04fdedf4317d8a1db9ad5ca182528a3ea6b4b3a4567807b46ef7fa4 +size 165439 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/eval_statistics.npz b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..baecf0f3d79664702931f1dd72257cff18cafe4f --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-16-15-27-42/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30071e1aaf9633073711836267d6d87bda6c3d01582d99fcf188b8df54d98b37 +size 2390 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/cfg.yaml b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2bce2ab6903af6c7b51c00e59c90062cdea36ed0 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/cfg.yaml @@ -0,0 +1,66 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: walker2d-medium-v2_eval_reflow_mlp_ta4_td20 +logdir: log/gym/eval/walker2d-medium-v2_eval_reflow_mlp_ta4_td20/2025-04-26_15-05-11_42 +base_policy_path: final_experiments_record/gym/pretrain/walker/reflow/2025-02-06_01-39-14_42/checkpoint/state_1500.pt +normalization_path: data/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: walker2d-medium-v2 +obs_dim: 17 +action_dim: 6 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 50 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.reflow.ReFlow + network: + _target_: model.flow.mlp_flow.FlowMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + time_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + device: cuda:0 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 20 + seed: 42 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/denoise_step.png b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..ebbfdbe5bd10165860872865758f452aa0a85037 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7beb6c8bebff8e948dc79cf05c1ea46af2308c990750555084d62fa391e15c12 +size 169471 diff --git a/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/eval_statistics.npz b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c1d195c65a0656de16312fcec26aab309da4857 --- /dev/null +++ b/visualize/0_Models/ReFlow/walker2d-medium-v2/25-04-26-15-05-17/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9518e1d148a5994a3e76638a5f681678f20bb8e74268f0c3ca7dd142e1dd7e9c +size 1718 diff --git a/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/cfg.yaml b/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7eaf86e95ff172ee56a662b819f182c5ac03f132 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/cfg.yaml @@ -0,0 +1,72 @@ +env_name: ant-medium-expert-v0 +action_dim: 8 +horizon_steps: 4 +act_steps: 4 +obs_dim: 111 +cond_steps: 1 +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: ant-medium-expert-v0_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/ant-medium-expert-v0_eval_shortcut_mlp_ta4_td4/2025-04-25_21-17-45_42 +base_policy_path: log/gym/pretrain/ant-medium-expert-v0_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-42_42/checkpoint/state_27.pt +normalization_path: data/gym/ant-medium-expert-v0/normalization.npz +seed: 42 +device: cuda:5 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: ant-medium-expert-v0 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/ant-medium-expert-v0/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 8 + cond_dim: 111 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 8 + act_min: -1 + act_max: 1 + obs_dim: 111 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/denoise_step.png b/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..e1b1165948090bed57bbd8f483f5a1db5fae5aed --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fb1ad1538bb007e1e9894820c7163fb76c7bab426386717117e72cd6d895e45 +size 163299 diff --git a/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c72ffbde44d50361417a96c7d9fba2ac4b0b3e4 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/ant-medium-expert-v0/25-04-25-21-17-51/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71ac89979753d4e3fa4115dd00132dfc6a5ebdb9f000879d24d14621cf3dc70f +size 1718 diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/cfg.yaml b/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..319938e3e1af1b1651cf430d39ed8f1397f8f763 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/cfg.yaml @@ -0,0 +1,117 @@ +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: can_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/can_eval_shortcut_mlp_img_ta4_td20/2025-04-25_23-49-57_42 +base_policy_path: log/robomimic/pretrain/can/ShortCut/can_pre_shortcut_mlp_img_ta4_td20/2025-04-25_15-22-25_42/checkpoint/last.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: data/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:7 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/denoise_step.png b/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..4569777fc20fd10853a11e146cc55b2544c45529 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d16531080fdb55e8d9b13233591b0266e7a6e290d2f52537e9d1ff36b67f9719 +size 151937 diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..b1301959a1f7d7132d685ee3058a10cd47b2e3ab --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-25-23-50-04/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c184e9d20070380a110b1c5cbbdb940593da14c855f4248a6f3da0eb3ed71532 +size 1046 diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/cfg.yaml b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb71eac9c26c1a4db1b348db5c3f85bf5ea12f87 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/cfg.yaml @@ -0,0 +1,118 @@ +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: can_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/can_eval_shortcut_mlp_img_ta4_td20/2025-04-26_00-12-47_42 +base_policy_path: log/robomimic/pretrain/can/ShortCut/can_pre_shortcut_mlp_img_ta4_td20/2025-04-25_15-22-25_42/checkpoint/last.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: data/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:7 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/denoise_step.png b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..8d0ff37a92d9ddd6084786adea0b656497d5ce24 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad39716ce8842e69582c8bb873cf2433fbc1c5769042e2449e32ce1050893d98 +size 153237 diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e8ee042d1cfee4198e1cbbe86c7896000f695c0 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-12-55/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68de5dbbb339f29bb55b2a78ae3f70d7403f6ab91b6f3d19cba36d29ec3ea6fd +size 1158 diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-00-34-06/cfg.yaml b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-34-06/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..699581df1c729508fae8a455e7bee9a0948bb201 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-34-06/cfg.yaml @@ -0,0 +1,118 @@ +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: can_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/can_eval_shortcut_mlp_img_ta4_td20/2025-04-26_00-33-58_42 +base_policy_path: log/robomimic/pretrain/can/ShortCut/can_pre_shortcut_mlp_img_ta4_td20/2025-04-25_15-22-25_42/checkpoint/state_600.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: data/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:7 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-00-41-56/cfg.yaml b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-41-56/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83a131532b3e3b46cb2f38eda7f6b633913991eb --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-41-56/cfg.yaml @@ -0,0 +1,121 @@ +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: can_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/can_eval_shortcut_mlp_img_ta4_td20/2025-04-26_00-41-48_42 +base_policy_path: log/robomimic/pretrain/can/ShortCut/can_pre_shortcut_mlp_img_ta4_td20/2025-04-25_15-22-25_42/checkpoint/state_600.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: data/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:7 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-00-41-56/denoise_step.png b/visualize/0_Models/ShortCutFlow/can/25-04-26-00-41-56/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..42b46e86f8a6dc95433cc644bed7c6adb67b6666 --- /dev/null +++ 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/dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-10-20-46/cfg.yaml @@ -0,0 +1,121 @@ +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: can_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/can_eval_shortcut_mlp_img_ta4_td20/2025-04-26_10-20-38_42 +base_policy_path: log/robomimic/pretrain/can/ShortCut/can_pre_shortcut_mlp_img_ta4_td20/2025-04-25_15-22-25_42/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/can-img.json +normalization_path: data/robomimic/can-img/normalization.npz +seed: 42 +device: cuda:7 +env_name: can +obs_dim: 9 +action_dim: 7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +cond_steps: 1 +img_cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 1 + name: can + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/can-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - robot0_eye_in_hand_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-10-20-46/denoise_step.png b/visualize/0_Models/ShortCutFlow/can/25-04-26-10-20-46/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..2767033a58dcdef217efbac63c52b8334d8bd9e8 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-10-20-46/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:666c999f38552a30ca8b917a26a993313c553f6cfb8e308f70b7a85035f9aaa6 +size 170950 diff --git a/visualize/0_Models/ShortCutFlow/can/25-04-26-10-20-46/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/can/25-04-26-10-20-46/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f040b97d5a886fd4729c72ac2c7fbc129668456 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/can/25-04-26-10-20-46/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2321a710a46e527cb5426d65cc3dcaaaafa35f98fc346b12f6d041c7f2d1508 +size 1494 diff --git a/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/cfg.yaml b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc76cee2fc905d245f9b81d23c51b95d22b64d50 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/cfg.yaml @@ -0,0 +1,72 @@ +env_name: halfcheetah-medium-v2 +action_dim: 6 +horizon_steps: 4 +obs_dim: 17 +cond_steps: 1 +act_steps: 4 +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: halfcheetah-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/halfcheetah-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-25_20-24-33_42 +base_policy_path: log/gym/pretrain/halfcheetah-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-33_42/checkpoint/state_40.pt +normalization_path: data/gym/halfcheetah-medium-v2/normalization.npz +seed: 42 +device: cuda:3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: halfcheetah-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/halfcheetah-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:3 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/denoise_step.png b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..0ee40808ad10caf6c44e37c79ec5fba81c06cd22 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62ecff60276bd190ba643433d8124d3a34c52e272b19ea0bd092b38d3bf81585 +size 161568 diff --git a/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ec1b000816d3f7bac95245b715ea944fa4ce16c --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-25-20-24-39/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c91e2d13615b1390dee2d01db06a8d9649d0371747f0670dfe5f8d694bb743fa +size 1718 diff --git a/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-29-21-43-56/cfg.yaml b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-29-21-43-56/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b01c41e2ec7a601a8729d5e80f293715e2ab7224 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-29-21-43-56/cfg.yaml @@ -0,0 +1,64 @@ +env_name: halfcheetah-medium-v2 +action_dim: 6 +horizon_steps: 4 +act_steps: 4 +obs_dim: 17 +cond_steps: 1 +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: halfcheetah-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/halfcheetah-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-29_21-43-47_42 +base_policy_path: log/gym/pretrain/halfcheetah-v2/ShortCut/2025-04-25_08-57-33_42_state_40.pt +normalization_path: data/gym/halfcheetah-medium-v2/normalization.npz +seed: 42 +device: cuda:3 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: halfcheetah-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/halfcheetah-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:3 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-29-21-43-56/denoise_step.png b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-29-21-43-56/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..ec78eadc4805e294bbe63c2023db605b5ff18f29 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/halfcheetah-medium-v2/25-04-29-21-43-56/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-14-58-51/cfg.yaml @@ -0,0 +1,69 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_14-58-44_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25-14-56-00_42/shortcut_hopper_last.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-14-58-51/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-14-58-51/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..60fc025486d7bf0e6326e7f61ddd1c39736ae376 --- /dev/null +++ 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0000000000000000000000000000000000000000..d2902389acf29cf2bb64455014f1c82406452338 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-15-31-31/cfg.yaml @@ -0,0 +1,69 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_15-31-25_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25-14-54/shortcut_hopper_last_40iters.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-15-31-31/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-15-31-31/denoise_step.png new file mode 100644 index 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b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-15-36-37/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51ed1c38dfcf2786e58a87ad148cb7474949a851 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-15-36-37/cfg.yaml @@ -0,0 +1,69 @@ +_target_: agent.eval.eval_reflow_agent.EvalReFlowAgent +name: hopper-medium-v2_eval_reflow_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_reflow_mlp_ta4_td4/2025-04-25_15-36-31_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25-14-54/shortcut_hopper_last_52iters.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +batch_size: 128 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:2 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-15-36-37/denoise_step.png 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1270 diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/cfg.yaml b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..688d5d786ca3f8b9bfdc3738b1df9132664e90f0 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/cfg.yaml @@ -0,0 +1,72 @@ +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: hopper-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-25_20-09-50_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/checkpoint/state_40.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:0 +env_name: hopper-medium-v2 +obs_dim: 11 +action_dim: 3 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +cond_steps: 1 +horizon_steps: 4 +act_steps: 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:0 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..2ac9bf2d94917cd3b1df893cc86d1947bf278340 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86c97f663a8ae967a862a1854bfce2377b22680cf60f51cd949bcd7d0429d50b +size 170654 diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..34432ecb40b80aa343a96c47967b34e17fc8ff8d --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-25-20-09-57/eval_statistics.npz @@ -0,0 +1,3 @@ +version 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42 +device: cuda:4 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 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data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-10-36-02/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-10-36-02/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..cadd6d8298458ae656f7426e187005b406d1c3b8 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-10-36-02/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0893c9f4157fc64a9f2af3265e074a81b5fb9ed44ce40a92e90c0588ef4f7de +size 120195 diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-10-36-02/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-10-36-02/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..4622222b8db3905f83a3fc6bf2b060950a90f70a --- /dev/null +++ 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log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/state_10.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-39-53/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-39-53/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..51af95d69307b52d74d37289c9bcde8dcf316d81 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-39-53/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf447118a9c019bf0744abdcfc23d46b05b3a027fe4576db4183ec65092f129e +size 120702 diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-39-53/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-39-53/eval_statistics.npz new file mode 100644 index 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log/gym/eval/hopper-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-28_12-40-06_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/state_20.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: 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agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: hopper-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-28_12-40-30_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/state_30.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-40-37/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-40-37/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..b9a1c2fe3c2c38d2eb0d0fba7389d193171b5c42 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-40-37/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d4d8a033167a05f5e69775c8c243ca5c1a9d5a3f649edc4e57ae5c2a09ee511 +size 123724 diff --git 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+act_steps: 4 +obs_dim: 11 +cond_steps: 1 +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: hopper-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-28_12-55-58_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/state_40.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:5 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-56-05/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-56-05/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..f3171ec193f92442e9e3af8e9e9b9e62c362215d --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-12-56-05/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-03-20/cfg.yaml @@ -0,0 +1,64 @@ +env_name: hopper-medium-v2 +action_dim: 3 +horizon_steps: 4 +act_steps: 4 +obs_dim: 11 +cond_steps: 1 +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: hopper-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-28_13-03-13_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/state_40.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:5 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-03-20/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-03-20/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..8fdf78d169f6505d07e2212067650febb984e453 --- /dev/null +++ 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0000000000000000000000000000000000000000..29b845457cf2e0c74345f31a18ac1d07da74e616 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-06-35/cfg.yaml @@ -0,0 +1,64 @@ +env_name: hopper-medium-v2 +action_dim: 3 +horizon_steps: 4 +act_steps: 4 +obs_dim: 11 +cond_steps: 1 +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: hopper-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-28_13-06-28_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/state_40.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:5 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-06-35/denoise_step.png b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-06-35/denoise_step.png new file mode 100644 index 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+ best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-24-26/denoise_step.png 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822 diff --git a/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-48-35/cfg.yaml b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-48-35/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc264bc8d159a288f89daffa046d6f7669bb657b --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/hopper-medium-v2/25-04-28-13-48-35/cfg.yaml @@ -0,0 +1,64 @@ +env_name: hopper-medium-v2 +action_dim: 3 +horizon_steps: 4 +act_steps: 4 +obs_dim: 11 +cond_steps: 1 +_target_: agent.eval.eval_shortcut_agent.EvalShortCutAgent +name: hopper-medium-v2_eval_shortcut_mlp_ta4_td4 +logdir: log/gym/eval/hopper-medium-v2_eval_shortcut_mlp_ta4_td4/2025-04-28_13-48-28_42 +base_policy_path: log/gym/pretrain/hopper-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_08-57-19_42/state_40.pt +normalization_path: data/gym/hopper-medium-v2/normalization.npz +seed: 42 +device: cuda:5 +denoising_steps: 4 +denoising_step_list: +- 4 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: hopper-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/hopper-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 3 + cond_dim: 11 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 3 + act_min: -1 + act_max: 1 + obs_dim: 11 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git 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cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-26-13-52-29/denoise_step.png b/visualize/0_Models/ShortCutFlow/square/25-04-26-13-52-29/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..ac7d7ced4eb9a787dbbe84654d0bc2e57a32d8b4 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-26-13-52-29/denoise_step.png 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b/visualize/0_Models/ShortCutFlow/square/25-04-26-23-59-51/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-04-26_23-59-19_42 +base_policy_path: log/robomimic/pretrain/square/ShortCut/square_pre_shortcut_mlp_img_ta4_td20/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-26-23-59-51/denoise_step.png b/visualize/0_Models/ShortCutFlow/square/25-04-26-23-59-51/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..11230cebc683bbbc9302fdeecad35a51d8a82dc1 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-26-23-59-51/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2c01cbad26df48edaa15db5b153b05703e41f13c588009ea609c230fcaa5b3f +size 164415 diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-26-23-59-51/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/square/25-04-26-23-59-51/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..aa2f59a5102f90c3bc89c7420a03120f4d9d474e --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-26-23-59-51/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6888688c37c32eae236dbeed092ede80c8b278f5d44c8149177cb0962c5eace8 +size 1718 diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-35-59/cfg.yaml b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-35-59/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..28788a82ce1d11d0ae8e0ebc2505cf9806e4db6d --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-35-59/cfg.yaml @@ -0,0 +1,122 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-04-27_13-35-00_42 +base_policy_path: log/robomimic/pretrain/square/ShortCut/square_pre_shortcut_mlp_img_ta4_td20_datascale/64/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-35-59/denoise_step.png 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a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-00/cfg.yaml b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-00/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ae9a4fe4a0dd06b748c52c15b5b57deec6d175e --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-00/cfg.yaml @@ -0,0 +1,122 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-04-27_13-34-44_42 +base_policy_path: log/robomimic/pretrain/square/ShortCut/square_pre_shortcut_mlp_img_ta4_td20_datascale/16/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:6 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:6 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-00/denoise_step.png b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-00/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..8cbd176b7144a50f1fb91544d32fc83e0d4a324f --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-00/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-04-27_13-34-35_42 +base_policy_path: log/robomimic/pretrain/square/ShortCut/square_pre_shortcut_mlp_img_ta4_td20_datascale/8/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:7 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:7 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-01/denoise_step.png b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-01/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..d38fcd8da20111263bfb897cf9b6b82f937c3550 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-01/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e9b3e4b7f82d6e866aa3f54384cac49f941bc97c3faf93679c7cff8a54fffa8 +size 166042 diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-01/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-01/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..ba9e75a300ce7bfd93914931c1927c85defbec7a --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-01/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:533579dfef8773a70a74253b12e42a302f9d59dbcabf3b0546d50cdd4e130f28 +size 1606 diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-02/cfg.yaml b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-02/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa3839f9d01386744937715f11e5eb9c183c7e25 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-02/cfg.yaml @@ -0,0 +1,122 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-04-27_13-34-52_42 +base_policy_path: log/robomimic/pretrain/square/ShortCut/square_pre_shortcut_mlp_img_ta4_td20_datascale/32/checkpoint/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:5 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/square/25-04-27-13-36-02/denoise_step.png 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a/visualize/0_Models/ShortCutFlow/transport/25-04-27-00-07-32/cfg.yaml b/visualize/0_Models/ShortCutFlow/transport/25-04-27-00-07-32/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ea2c4a61bb4328ce3f24a475c4c0cc50142c2d51 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/transport/25-04-27-00-07-32/cfg.yaml @@ -0,0 +1,128 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-04-27_00-06-56_42 +base_policy_path: log/robomimic/pretrain/transport/ShortCut/last.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:6 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:6 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/transport/25-04-27-00-07-32/denoise_step.png b/visualize/0_Models/ShortCutFlow/transport/25-04-27-00-07-32/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..a1c083c2efc237ed36caef647fd8311d4d1a64b4 --- /dev/null +++ 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0000000000000000000000000000000000000000..1b8e2070049655f82b30e87b3170896af10fe532 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-51-33/cfg.yaml @@ -0,0 +1,127 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-04-27_15-51-01_42 +base_policy_path: log/robomimic/pretrain/transport/ShortCut/state_2000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-51-33/denoise_step.png b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-51-33/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..186cbb0e47bac6117a7cba6322d1b842aaeacd57 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-51-33/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff3149f1eb7454dfe1e6e462c7a0037abdd770831add9afad649172fd0687e7b +size 158177 diff --git a/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-51-33/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-51-33/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..2ed7bb845cd213f6adf67b4e953fa1d4fc84f94b --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-51-33/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c65d13f4377dcde75a12883ec9b1a210cb15281b2a3fa8f9217e10c80b5580c7 +size 1606 diff --git a/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/cfg.yaml b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b79b71d33b5cf0b3de399f11681e349f004b74f --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/cfg.yaml @@ -0,0 +1,123 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-04-27_15-55-53_42 +base_policy_path: log/robomimic/pretrain/transport/ShortCut/state_750.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:6 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:6 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/denoise_step.png b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..0077bccaa328a33eaae6d9e744cc6ce981202ec3 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a615e72928c44648ebe1bc06dac8258547f475cd37e70039622cc39e536939ac +size 160103 diff --git a/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/eval_statistics.npz b/visualize/0_Models/ShortCutFlow/transport/25-04-27-15-56-38/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ffe9787c71539026b78a1e0706490722526be1c --- /dev/null +++ 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log/gym/pretrain/walker2d-medium-v2_pre_shortcut_mlp_ta4_td20/2025-04-25_12-55-43_42/checkpoint/state_40.pt +normalization_path: data/gym/walker2d-medium-v2/normalization.npz +seed: 42 +device: cuda:2 +denoising_steps: 4 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +- 256 +n_steps: 500 +render_num: 0 +env: + n_envs: 40 + name: walker2d-medium-v2 + max_episode_steps: 1000 + reset_at_iteration: false + save_video: false + best_reward_threshold_for_success: 3 + wrappers: + mujoco_locomotion_lowdim: + normalization_path: data/gym/walker2d-medium-v2/normalization.npz + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 1000 + reset_within_step: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowMLP + horizon_steps: 4 + action_dim: 6 + cond_dim: 17 + td_emb_dim: 16 + mlp_dims: + - 512 + - 512 + - 512 + cond_mlp_dims: + - 64 + - 16 + activation_type: ReLU + out_activation_type: Identity + use_layernorm: false + residual_style: true + embed_combination_type: add + device: cuda:2 + horizon_steps: 4 + action_dim: 6 + act_min: -1 + act_max: 1 + obs_dim: 17 + max_denoising_steps: 4 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/0_Models/ShortCutFlow/walker2d-medium-v2/25-04-25-23-29-01/denoise_step.png b/visualize/0_Models/ShortCutFlow/walker2d-medium-v2/25-04-25-23-29-01/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..f8a2c2fbe0bb932955800fc99caaf68a9fe729f9 --- /dev/null +++ b/visualize/0_Models/ShortCutFlow/walker2d-medium-v2/25-04-25-23-29-01/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29e03b10bbe752d19289c367238314a3015b700cedd045ab8473d4031b8581f6 +size 183167 diff --git a/visualize/0_Models/ShortCutFlow/walker2d-medium-v2/25-04-25-23-29-01/eval_statistics.npz 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b/visualize/Sensitivity/ant/noise_parameterization.png new file mode 100644 index 0000000000000000000000000000000000000000..4a2bfca91bde70d52fa21d38ba10bddcd4500c0c --- /dev/null +++ b/visualize/Sensitivity/ant/noise_parameterization.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d138fb7043b9a840564af033b69bb036332819dbf52a6c98edb0acfa53af51eb +size 92841 diff --git a/visualize/ShortCutFlow/square/25-05-09-16-26-43/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-16-26-43/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bdb25919d10773d3691b58eabd573d147adc66ac --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-26-43/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-26-29_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:0 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:0 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-16-28-46/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-16-28-46/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c447f2723cb009b3170f6405fff2061e66d60203 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-28-46/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-28-33_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:0 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:0 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-16-30-26/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-16-30-26/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..364e73a5beed1ebbfa75b3345c58e2d9c5c0978e --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-30-26/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-30-13_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:1 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-16-31-54/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-16-31-54/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dae6ada041f6787a3d52066c6c3bf226f4510e3b --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-31-54/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-31-42_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/64/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:4 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-16-31-54/denoise_step.png b/visualize/ShortCutFlow/square/25-05-09-16-31-54/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..a3ab1201a91405426e11253852ddd70dbdad8746 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-31-54/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:553a1822684d866220aadaa816663431f810c16ea045c8d19f84fb3bfd18320a +size 159582 diff --git a/visualize/ShortCutFlow/square/25-05-09-16-31-54/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-09-16-31-54/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..249e034e71cd29fef3d346fc808c74418fc796b6 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-31-54/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4701a941f2d8f7ecabd9eb22b5ae5fde56df1f386239ddc5107b0b4d875dc408 +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-09-16-32-17/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-16-32-17/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4be782f7536355677652d5223871a46cbe15985c --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-32-17/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-32-05_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:1 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-16-32-17/denoise_step.png b/visualize/ShortCutFlow/square/25-05-09-16-32-17/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..9cc9bfa9968bcb754eae9c1853b5006e3f973a3a --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-32-17/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7984432be63d77c934d52094db5f4346918912f882ac28b953e5f32a420413ba +size 161740 diff --git a/visualize/ShortCutFlow/square/25-05-09-16-32-17/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-09-16-32-17/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..ddeb5950bb224d96d6366c3674dacc710c2cfeea --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-32-17/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bceed292a96aa2100a686db72a4a21cf8c1d10ec555cab6836157a169dc3afeb +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-09-16-32-30/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-16-32-30/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bdf4d83f8f72715940b33a0e9582b9c98a235901 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-32-30/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-32-15_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:5 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-16-32-30/denoise_step.png b/visualize/ShortCutFlow/square/25-05-09-16-32-30/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..cebc18f745f82cbc67b3ce0a5cabbee6d5aa81d0 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-32-30/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4d69f82939f6ed68349d6af579845bd319e022c7805f23933044b93feeb34c2 +size 161180 diff --git a/visualize/ShortCutFlow/square/25-05-09-16-32-30/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-09-16-32-30/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..c8d82cab0031167b4b22da96e1e830718a1b276d --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-16-32-30/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bfbf277f04730fd64451a4792b708092a2535d7c67d695a594dffdeb7240e28 +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-09-17-41-14/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-17-41-14/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f382bef89d1feb3b859a940f3a1992830c67a7c8 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-17-41-14/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_17-41-02_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/100/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:5 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-17-41-14/denoise_step.png b/visualize/ShortCutFlow/square/25-05-09-17-41-14/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..d488a0070db32ae8221591a74fc2f335c32bbfc1 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-17-41-14/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae81ba20ee64784cb64bb634c22af4f30431eeeac97f9c5ddaa580daf039176b +size 164935 diff --git a/visualize/ShortCutFlow/square/25-05-09-17-41-14/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-09-17-41-14/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..455a0488fd0d3e0c6af0c9f56b3affb9e4139ac3 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-17-41-14/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:475b239fb46c24ea9232c69f1db9c4f6c07d4d63a20c9849fe52bcd94e470f9d +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-09-18-58-18/cfg.yaml b/visualize/ShortCutFlow/square/25-05-09-18-58-18/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f7cc13da1872a2e10afafc5dc2ca378c2c0e76d9 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-18-58-18/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_18-58-06_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/16/last.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:5 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-09-18-58-18/denoise_step.png b/visualize/ShortCutFlow/square/25-05-09-18-58-18/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..41b38390499f00b70d8aea4e93a1e554aa380451 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-18-58-18/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ac4ce61f938db10f8887ee78345fd4c02a51357fa2bf095591e2626034bca8e +size 162307 diff --git a/visualize/ShortCutFlow/square/25-05-09-18-58-18/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-09-18-58-18/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..41b5a26018de4f2fc7f6df98f7878462cf161d1b --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-09-18-58-18/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2fa5c9c520f09a072e6c1bf9ea3c77d657868b8e1ffbb7b89077640550f5e2a +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-40-05/cfg.yaml b/visualize/ShortCutFlow/square/25-05-13-19-40-05/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0f1c6355266d0060238caf77a05d69360922261 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-40-05/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-13_19-39-54_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/64/seed0/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:5 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-13-19-40-05/denoise_step.png b/visualize/ShortCutFlow/square/25-05-13-19-40-05/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..09ac643a42f6feefb97bcdf79592ba1cfe82ff23 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-40-05/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:780fd4a03e4973d38676c23eb66ade65f740693bf5069b4c0d11e0cd3237de92 +size 159688 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-40-05/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-13-19-40-05/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..20487c1745af08b7567e11da91836c5e55ab41b9 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-40-05/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f16d2441d8f8387e66ea42133838561f7dc3e263d2704be3ad312701e5d4c798 +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-41-18/cfg.yaml b/visualize/ShortCutFlow/square/25-05-13-19-41-18/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d61ee9fb9cb316a83aeeaecdcc2ce768495cb946 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-41-18/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-13_19-41-06_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/64/seed3407/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:4 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-13-19-41-18/denoise_step.png b/visualize/ShortCutFlow/square/25-05-13-19-41-18/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..c095dfb75d7bf97e95e2ac3cff51f503de1a049c --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-41-18/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:026ce204700b1a49ab5b947a358127920f8e0dbf750663b42ed385ad13a509e4 +size 158739 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-41-18/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-13-19-41-18/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..f8a3e159e8735d17ad42c48e208d632de8d449b0 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-41-18/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2541e24ec43aa18fa7f2c5d12628494c7269b38ed4b68db9bfd9d101477fad64 +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-42-12/cfg.yaml b/visualize/ShortCutFlow/square/25-05-13-19-42-12/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7d53bc7cc955b4dc0148b23b0951a4882f1d689 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-42-12/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-13_19-41-58_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/seed3407/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:3 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:3 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-13-19-42-12/denoise_step.png b/visualize/ShortCutFlow/square/25-05-13-19-42-12/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..a6ff06625db68f84472f0dfdffc1ea5663548904 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-42-12/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bbf875da3d9649d8a59d391bc5a1456186382526937f6d136e58415285f3ed0 +size 158372 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-42-12/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-13-19-42-12/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..edbf47e89c1f0e75bf96def835610197ef60cdb8 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-42-12/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b27678bbdd889b9a88b626c4f9859b64847784a5b12d7a144b0d02cb44b0a9df +size 1606 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-42-39/cfg.yaml b/visualize/ShortCutFlow/square/25-05-13-19-42-39/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24e7332fefecdbc8b3cbfb6eaf241129964f23c9 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-42-39/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-13_19-42-22_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/seed0/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:2 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:2 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/25-05-13-19-42-39/denoise_step.png b/visualize/ShortCutFlow/square/25-05-13-19-42-39/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..8de0a76acd8430c2f1d240481e4df25025d397d8 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-42-39/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c233053b1efc8994dc0befbe5e589960f7afe3dd7edde54e652025b33994861 +size 159933 diff --git a/visualize/ShortCutFlow/square/25-05-13-19-42-39/eval_statistics.npz b/visualize/ShortCutFlow/square/25-05-13-19-42-39/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..92faf4584c388965ee5622efa5f7003b3afc9cf1 --- /dev/null +++ b/visualize/ShortCutFlow/square/25-05-13-19-42-39/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3db8b56ce8de91633039a47502cd6fdfc9273bc9d5d1e402680b49f7e3bc7a3a +size 1606 diff --git a/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/cfg.yaml b/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f382bef89d1feb3b859a940f3a1992830c67a7c8 --- /dev/null +++ b/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/cfg.yaml @@ -0,0 +1,123 @@ +env_name: square +action_dim: 7 +horizon_steps: 4 +act_steps: 4 +obs_dim: 9 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_17-41-02_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/100/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:5 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/denoise_step.png b/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..d488a0070db32ae8221591a74fc2f335c32bbfc1 --- /dev/null +++ b/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae81ba20ee64784cb64bb634c22af4f30431eeeac97f9c5ddaa580daf039176b +size 164935 diff --git a/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/eval_statistics.npz b/visualize/ShortCutFlow/square/datascale_finetuned/100/seed42/25-05-09-17-41-14/eval_statistics.npz new file mode 100644 index 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agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_18-58-06_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/16/last.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:5 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git 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+img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-32-05_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/32/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:1 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:1 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/datascale_finetuned/32/seed42/25-05-09-16-32-17/denoise_step.png b/visualize/ShortCutFlow/square/datascale_finetuned/32/seed42/25-05-09-16-32-17/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..9cc9bfa9968bcb754eae9c1853b5006e3f973a3a --- /dev/null +++ b/visualize/ShortCutFlow/square/datascale_finetuned/32/seed42/25-05-09-16-32-17/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7984432be63d77c934d52094db5f4346918912f882ac28b953e5f32a420413ba +size 161740 diff --git a/visualize/ShortCutFlow/square/datascale_finetuned/32/seed42/25-05-09-16-32-17/eval_statistics.npz b/visualize/ShortCutFlow/square/datascale_finetuned/32/seed42/25-05-09-16-32-17/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..ddeb5950bb224d96d6366c3674dacc710c2cfeea --- /dev/null +++ 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+img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: square_eval_shortcut_mlp_img_ta4_td20 +logdir: log/robomimic/eval/square_eval_shortcut_mlp_img_ta4_td20/2025-05-09_16-31-42_42 +base_policy_path: log/robomimic/finetune/square_ft_shortcut_datascale/64/state_300.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/square-img.json +normalization_path: data/robomimic/square-img/normalization.npz +seed: 42 +device: cuda:4 +egl_device: null +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 4 +- 8 +- 16 +- 32 +- 64 +- 128 +n_steps: 300 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: square + best_reward_threshold_for_success: 1 + max_episode_steps: 300 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/square-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + image_keys: + - agentview_image + shape_meta: + obs: + rgb: + shape: + - 3 + - 96 + - 96 + state: + shape: + - 9 + action: + shape: + - 7 + multi_step: + n_obs_steps: 1 + n_action_steps: 4 + max_episode_steps: 300 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 3 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 7 + horizon_steps: 4 + prop_dim: 9 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 64 + - 32 + residual_style: true + num_img: 1 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 4 + action_dim: 7 + act_min: -1 + act_max: 1 + obs_dim: 9 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/square/datascale_finetuned/64/seed42/25-05-09-16-31-54/denoise_step.png b/visualize/ShortCutFlow/square/datascale_finetuned/64/seed42/25-05-09-16-31-54/denoise_step.png new file mode 100644 index 0000000000000000000000000000000000000000..a3ab1201a91405426e11253852ddd70dbdad8746 --- /dev/null +++ b/visualize/ShortCutFlow/square/datascale_finetuned/64/seed42/25-05-09-16-31-54/denoise_step.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:553a1822684d866220aadaa816663431f810c16ea045c8d19f84fb3bfd18320a +size 159582 diff --git a/visualize/ShortCutFlow/square/datascale_finetuned/64/seed42/25-05-09-16-31-54/eval_statistics.npz b/visualize/ShortCutFlow/square/datascale_finetuned/64/seed42/25-05-09-16-31-54/eval_statistics.npz new file mode 100644 index 0000000000000000000000000000000000000000..249e034e71cd29fef3d346fc808c74418fc796b6 --- /dev/null +++ b/visualize/ShortCutFlow/square/datascale_finetuned/64/seed42/25-05-09-16-31-54/eval_statistics.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4701a941f2d8f7ecabd9eb22b5ae5fde56df1f386239ddc5107b0b4d875dc408 +size 1606 diff --git a/visualize/ShortCutFlow/transport/25-05-01-22-38-06/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-01-22-38-06/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0252f62bc784a9d478e4f793480fa333e0774830 --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-01-22-38-06/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-01_22-37-36_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_20.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:0 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:0 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/transport/25-05-01-22-44-30/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-01-22-44-30/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aac2d85b8e71eff94944bf3c2739fdd665250505 --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-01-22-44-30/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-01_22-43-59_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_520.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/transport/25-05-01-22-48-24/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-01-22-48-24/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0f841812e7528e3a1410b31cf862833890df5e14 --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-01-22-48-24/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-01_22-45-02_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_660.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/transport/25-05-01-22-48-31/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-01-22-48-31/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3f649fba499861d4e27bca428e81fec43a060ba2 --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-01-22-48-31/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-01_22-45-25_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_680.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:5 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:5 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/transport/25-05-02-15-34-52/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-02-15-34-52/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dbf0c22851906baa9c3434c079e3662bc104f473 --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-02-15-34-52/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-02_15-34-19_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_660.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:2 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:2 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/transport/25-05-02-15-34-53/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-02-15-34-53/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b7a1451222ad9452096c06a3f152f1ced60f77c --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-02-15-34-53/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-02_15-34-04_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_560.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:6 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:6 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/transport/25-05-02-15-35-28/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-02-15-35-28/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d389d02bbd4d4446613e20729030c1f52bc1743 --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-02-15-35-28/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-02_15-34-51_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_620.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:0 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:0 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/ShortCutFlow/transport/25-05-02-15-36-25/cfg.yaml b/visualize/ShortCutFlow/transport/25-05-02-15-36-25/cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68cafe1e1f16f4d842e15642a3395df4734dd10d --- /dev/null +++ b/visualize/ShortCutFlow/transport/25-05-02-15-36-25/cfg.yaml @@ -0,0 +1,124 @@ +env_name: transport +action_dim: 14 +horizon_steps: 8 +act_steps: 8 +obs_dim: 18 +cond_steps: 1 +img_cond_steps: 1 +shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 +_target_: agent.eval.eval_shortcut_img_agent.EvalImgShortCutAgent +name: transport_eval_shortcut_mlp_img_ta8_td20 +logdir: log/robomimic/eval/transport_eval_shortcut_mlp_img_ta8_td20/2025-05-02_15-35-39_42 +base_policy_path: log/robomimic/pretrain/transport/transport_pre_shortcut_mlp_img_ta8_td20/2025-05-01_12-45-58_42/checkpoint/state_1000.pt +robomimic_env_cfg_path: cfg/robomimic/env_meta/transport-img.json +normalization_path: data/robomimic/transport-img/normalization.npz +seed: 42 +device: cuda:4 +denoising_steps: 20 +denoising_step_list: +- 1 +- 2 +- 3 +- 4 +- 5 +n_steps: 200 +render_num: 0 +batch_size: 128 +env: + n_envs: 50 + name: transport + best_reward_threshold_for_success: 1 + max_episode_steps: 800 + save_video: false + use_image_obs: true + wrappers: + robomimic_image: + normalization_path: data/robomimic/transport-img/normalization.npz + low_dim_keys: + - robot0_eef_pos + - robot0_eef_quat + - robot0_gripper_qpos + - robot1_eef_pos + - robot1_eef_quat + - robot1_gripper_qpos + image_keys: + - shouldercamera0_image + - shouldercamera1_image + shape_meta: + obs: + rgb: + shape: + - 6 + - 96 + - 96 + state: + shape: + - 18 + action: + shape: + - 14 + multi_step: + n_obs_steps: 1 + n_action_steps: 8 + max_episode_steps: 800 + reset_within_step: true + render: true +model: + _target_: model.flow.shortcutflow.ShortCutFlow + network: + _target_: model.flow.mlp_shortcut.ShortCutFlowViT + backbone: + _target_: model.common.vit.VitEncoder + obs_shape: + - 6 + - 96 + - 96 + num_channel: 3 + cfg: + patch_size: 8 + depth: 1 + embed_dim: 128 + num_heads: 4 + embed_style: embed2 + embed_norm: 0 + action_dim: 14 + horizon_steps: 8 + prop_dim: 18 + img_cond_steps: 1 + td_emb_dim: 32 + mlp_dims: + - 768 + - 768 + - 768 + cond_mlp_dims: + - 96 + - 48 + - 32 + residual_style: true + num_img: 2 + augment: true + spatial_emb: 128 + embed_combination_type: add + device: cuda:4 + horizon_steps: 8 + action_dim: 14 + act_min: -1 + act_max: 1 + obs_dim: 18 + max_denoising_steps: 20 + seed: 42 + self_consistency_k: 0.25 + delta: 1.0e-05 + sample_t_type: uniform diff --git a/visualize/visualize_nets/noise_net_visualization.png b/visualize/visualize_nets/noise_net_visualization.png new file mode 100644 index 0000000000000000000000000000000000000000..87d15ed629505d3b7ceef008e75c5ef47469fa08 --- /dev/null +++ b/visualize/visualize_nets/noise_net_visualization.png @@ -0,0 +1,3 @@ +version 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