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825cff4 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | # Getting Started
## Quickstart colab notebook
If you prefer to test the basic functionality of robomimic without installing anything locally, try the quickstart [Colab notebook](https://colab.research.google.com/drive/1b62r_km9pP40fKF0cBdpdTO2P_2eIbC6?usp=sharing).
## Running experiments
We begin with a quick tutorial on downloading datasets and running experiments.
Before beginning, make sure you are at the base repo path:
```sh
$ cd {/path/to/robomimic}
```
### Step 1: Download dataset
Download the robosuite **Lift (PH)** dataset (see [this link](../datasets/robomimic_v0.1.html#proficient-human-ph) for more information on this dataset):
```sh
$ python robomimic/scripts/download_datasets.py --tasks lift --dataset_types ph
```
The dataset can be found at `datasets/lift/ph/low_dim_v141.hdf5`
### Step 2: Launch experiment
Now, we will run an experiment using `train.py`. In this case we would like to run behavior cloning (BC) for the lift dataset we just downloaded.
```sh
$ python robomimic/scripts/train.py --config robomimic/exps/templates/bc.json --dataset datasets/lift/ph/low_dim_v141.hdf5 --debug
```
<div class="admonition note">
<p class="admonition-title">Running quick sanity check experiments</p>
Make sure to add the `--debug` flag to your experiments as a sanity check that your implementation works.
</div>
**Resume functionality**: If your training job fails due to any reason, you can re-launch your job with the additional `--resume` flag to resume training from the last saved epoch. This will resume training from the `last.pth` checkpoint in your output directory for the most recent training run. Some points to note:
1. While fine-tuning from a specified checkpoint (in `config.experiment.ckpt_path`) would load model weights from the checkpoint, resume functionality also loads the optimizer state.
2. `config.experiment.ckpt_path` will be ignored if you are resuming a training job, i.e. `last.pth` will take precedence if `--resume` is passed.
<div class="admonition warning">
<p class="admonition-title">Warning!</p>
This example [requires robosuite](./installation.html#install-simulators) to be installed (under the `v1.5.1` branch), but it can be run without robosuite by disabling rollouts in `robomimic/exps/templates/bc.json`: simply change the `experiment.rollout.enabled` flag to `false`.
</div>
### Step 3: View experiment results
After the script finishes, we can check the training outputs in the directory `bc_trained_models/test`.
Experiment outputs comprise the following:
```
config.json # config used for this experiment
logs/ # experiment log files
log.txt # terminal output
tb/ # tensorboard logs
videos/ # videos of robot rollouts during training
models/ # saved model checkpoints
```
The experiment results can be viewed using tensorboard:
```sh
$ tensorboard --logdir bc_trained_models/test --bind_all
```
## Next steps
<!--
High-level overview of the `robomimic` directory (highlighting selected files):
```
algo/ # algorithms
bc.py # bc implementation
...
config/ # default algorithm configs
bc_config.py # default config for bc
...
envs/ # environment wrappers
...
exps/ # custom experiment configs (overriding default algorithm configs)
templates/ # template experiment configs
bc.json # template config for bc
...
models/ # network architectures
...
scripts/ # scripts
train.py # main script for running experiments
download_datasets.py # downloading robomimic v0.1 datasets
playback_dataset.py # visualizing dataset trajectories
...
utils/ # utils for training, evaluation, visualization, hp sweeps, etc
...
```
-->
Please refer to the remaining documentation sections. Some helpful suggestions on pages to view next:
- [Configuring and Launching Training Runs](../tutorials/configs.html)
- [Logging and Viewing Training Results](../tutorials/viewing_results.html)
- [Running Hyperparameter Scans](../tutorials/hyperparam_scan.html)
- [Overview of Datasets](../datasets/overview.html)
- [Dataset Contents and Visualization](../tutorials/dataset_contents.html)
- [Overview of Modules](../modules/overview.html)
|