diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustToasterOvenTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1a79c4378cd568b0382188f9ec37efae146800d8 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustToasterOvenTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.1 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustWaterTemperature/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustWaterTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/AdjustWaterTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.34 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseBlenderLid/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseBlenderLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8bcbedfc561d6a43c3875750df6696276885344f --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseBlenderLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.04 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseFridge/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseFridge/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..51338726527e720a1456879fbf87f45b4ab71aca --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseFridge/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.64 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseToasterOvenDoor/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseToasterOvenDoor/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CloseToasterOvenDoor/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.54 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CoffeeSetupMug/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CoffeeSetupMug/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/CoffeeSetupMug/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.4 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/NavigateKitchen/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/NavigateKitchen/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ddab7e73285cc9bdba09a40651e3aadab6dff391 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/NavigateKitchen/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.16 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenCabinet/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenCabinet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenCabinet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.36 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenDrawer/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenDrawer/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..26d3ad0b4ea0fb7d90334d3a51ca57c2774baf49 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenDrawer/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.42 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenElectricKettleLid/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenElectricKettleLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..934943d613a8ea24b53bc7d318535a8ba6098c48 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenElectricKettleLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.6 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenStandMixerHead/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenStandMixerHead/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/OpenStandMixerHead/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.88 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCabinetToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCabinetToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.48 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToCabinet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..52936d3f2e553b4881130dd0bd4eaeed1ff3b57e --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToCabinet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.32 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToStove/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceCounterToStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.3 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceDrawerToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d8cd07d1c0b368bbd29e4e592d28868e10256ff1 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceDrawerToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.2 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceSinkToCounter/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceSinkToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceSinkToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.44 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceToasterToCounter/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceToasterToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..934943d613a8ea24b53bc7d318535a8ba6098c48 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/PickPlaceToasterToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.6 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/SlideDishwasherRack/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/SlideDishwasherRack/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f61e3575f3af3cd468506a20c23235d870112253 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/SlideDishwasherRack/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.62 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffMicrowave/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.28 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffSinkFaucet/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..458fb974d3e8cd371d62316c196977f68e872f47 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.86 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffStove/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..29eb2cfb6ec5ff6b5ab4adb9ee5c56ab64dc58b8 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOffStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.18 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnElectricKettle/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnElectricKettle/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnElectricKettle/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.66 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnMicrowave/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.3 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnSinkFaucet/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..51338726527e720a1456879fbf87f45b4ab71aca --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.64 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnStove/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..52936d3f2e553b4881130dd0bd4eaeed1ff3b57e --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnOnStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.32 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnSinkSpout/stats.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnSinkSpout/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..cba16cfe0e764b8a3fedec013140f5682bdbba42 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/evals/pretrain/TurnSinkSpout/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.82 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..621580492d7f17bf9879cdd077d58b9903cfbdb0 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml @@ -0,0 +1,34 @@ +experiment_name: rkd_temp_ablation_from_trained_base +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.05/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only +sweep: + rkd_temp: + - 0.05 + - 0.1 + - 0.2 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_rkd_fm + max_steps: 30000 + save_steps: 0 + trainable: + preset: freeze_processing_line + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: 0.05 + rkd_vlm_temp: 0.05 + rkd_relation_mode: token_pair_mean +resolved_sweep: + rkd_temp: 0.05 diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9fb48e1b664e9aecae27c3c84990f0ccd18ad9b --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml @@ -0,0 +1,32 @@ +experiment_name: rkd_temp_ablation_from_trained_base +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_${sweep.rkd_temp}/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only +sweep: + rkd_temp: + - 0.05 + - 0.1 + - 0.2 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_rkd_fm + max_steps: 30000 + save_steps: 0 + trainable: + preset: freeze_processing_line + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: ${sweep.rkd_temp} + rkd_vlm_temp: ${sweep.rkd_temp} + rkd_relation_mode: token_pair_mean diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/selected_eval_config.yaml b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/selected_eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..621580492d7f17bf9879cdd077d58b9903cfbdb0 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/selected_eval_config.yaml @@ -0,0 +1,34 @@ +experiment_name: rkd_temp_ablation_from_trained_base +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.05/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only +sweep: + rkd_temp: + - 0.05 + - 0.1 + - 0.2 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_rkd_fm + max_steps: 30000 + save_steps: 0 + trainable: + preset: freeze_processing_line + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: 0.05 + rkd_vlm_temp: 0.05 + rkd_relation_mode: token_pair_mean +resolved_sweep: + rkd_temp: 0.05 diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/summary.txt b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..d832df2dee81950fc90ea64d9e977fefe60aa3d6 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/summary.txt @@ -0,0 +1,56 @@ +Eval metadata +- total_eval_time: 3h 1m 52s (10911.63s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05 +- video_dir: /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 6303 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/rkd_dit_core_only.yaml + - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/selected_eval_config.yaml + +Stats for task group: MY_ATOMIC26 +CloseBlenderLid: 4 | None +CloseFridge: 64 | None +CloseToasterOvenDoor: 54 | None +CoffeeSetupMug: 40 | None +NavigateKitchen: 16 | None +OpenCabinet: 36 | None +OpenDrawer: 42 | None +OpenStandMixerHead: 88 | None +PickPlaceCounterToCabinet: 32 | None +PickPlaceCounterToStove: 30 | None +PickPlaceDrawerToCounter: 20 | None +PickPlaceSinkToCounter: 44 | None +PickPlaceToasterToCounter: 60 | None +PickPlaceCabinetToCounter: 48 | None +TurnOnElectricKettle: 66 | None +TurnOnMicrowave: 30 | None +TurnOffMicrowave: 28 | None +OpenElectricKettleLid: 60 | None +SlideDishwasherRack: 62 | None +TurnOnSinkFaucet: 64 | None +TurnSinkSpout: 82 | None +TurnOffSinkFaucet: 86 | None +AdjustWaterTemperature: 34 | None +TurnOffStove: 18 | None +TurnOnStove: 32 | None +AdjustToasterOvenTemperature: 10 | None +AVG: 44.2 | nan + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 26/26 +- expected episodes per task: 50 +CHECK PASSED diff --git a/RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenCabinet/stats.json b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenCabinet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310 --- /dev/null +++ b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenCabinet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.4 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenElectricKettleLid/stats.json b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenElectricKettleLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4b53abff8b682d1bd470bd415c4c8f3d9d8585d0 --- /dev/null +++ b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/evals/pretrain/OpenElectricKettleLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.5 +} \ No newline at end of file diff --git a/RKD_Processing_line_Only/rkd_temp_0.2/phase3/resolved_config.yaml b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..664fecfdc737ac579edd73f43b6ccbb81a0840ea --- /dev/null +++ b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/resolved_config.yaml @@ -0,0 +1,49 @@ +experiment_name: rkd_temp_ablation_from_trained_base +policy_type: groot_rkd +base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000 +output_root: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only +sweep: + rkd_temp: + - 0.05 + - 0.1 + - 0.2 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase2_rkd_only + max_steps: 30000 + save_steps: 0 + trainable: + preset: processing_line_only + tune_llm: false + tune_visual: false + tune_projector: false + tune_diffusion_model: false + losses: + rkd_enabled: true + rkd_fm_loss_weight: 0.0 + rkd_loss_weight: 1.0 + rkd_action_temp: 0.2 + rkd_vlm_temp: 0.2 + rkd_relation_mode: token_pair_mean +- name: phase3_rkd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: true + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 1.0 + rkd_action_temp: 0.2 + rkd_vlm_temp: 0.2 + rkd_relation_mode: token_pair_mean +resolved_sweep: + rkd_temp: 0.2 diff --git a/RKD_Processing_line_Only/rkd_temp_0.2/phase3/rkd_temp_ablation.yaml b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/rkd_temp_ablation.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d93aa17f274a1405dfa425d81922cb79dc178576 --- /dev/null +++ b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/rkd_temp_ablation.yaml @@ -0,0 +1,47 @@ +experiment_name: rkd_temp_ablation_from_trained_base +policy_type: groot_rkd +base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000 +output_root: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only +sweep: + rkd_temp: + - 0.05 + - 0.1 + - 0.2 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase2_rkd_only + max_steps: 30000 + save_steps: 0 + trainable: + preset: processing_line_only + tune_llm: false + tune_visual: false + tune_projector: false + tune_diffusion_model: false + losses: + rkd_enabled: true + rkd_fm_loss_weight: 0.0 + rkd_loss_weight: 1.0 + rkd_action_temp: ${sweep.rkd_temp} + rkd_vlm_temp: ${sweep.rkd_temp} + rkd_relation_mode: token_pair_mean +- name: phase3_rkd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: true + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 1.0 + rkd_action_temp: ${sweep.rkd_temp} + rkd_vlm_temp: ${sweep.rkd_temp} + rkd_relation_mode: token_pair_mean diff --git a/RKD_Processing_line_Only/rkd_temp_0.2/phase3/summary.txt b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..500687a27ee375a46f625a94cc64043f028949e8 --- /dev/null +++ b/RKD_Processing_line_Only/rkd_temp_0.2/phase3/summary.txt @@ -0,0 +1,56 @@ +Eval metadata +- total_eval_time: 3h 30m 25s (12624.51s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2 +- video_dir: /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 1243 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/rkd_temp_ablation.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.2/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3/rkd_temp_ablation.yaml + - /home/seonho/groot_robocasa/Experiments/RKD_Processing_line_Only/rkd_temp_0.2/phase3/selected_eval_config.yaml + +Stats for task group: MY_ATOMIC26 +CloseBlenderLid: 8 | None +CloseFridge: 76 | None +CloseToasterOvenDoor: 68 | None +CoffeeSetupMug: 42 | None +NavigateKitchen: 38 | None +OpenCabinet: 40 | None +OpenDrawer: 56 | None +OpenStandMixerHead: 90 | None +PickPlaceCounterToCabinet: 50 | None +PickPlaceCounterToStove: 46 | None +PickPlaceDrawerToCounter: 38 | None +PickPlaceSinkToCounter: 68 | None +PickPlaceToasterToCounter: 82 | None +PickPlaceCabinetToCounter: 46 | None +TurnOnElectricKettle: 70 | None +TurnOnMicrowave: 34 | None +TurnOffMicrowave: 30 | None +OpenElectricKettleLid: 50 | None +SlideDishwasherRack: 72 | None +TurnOnSinkFaucet: 60 | None +TurnSinkSpout: 90 | None +TurnOffSinkFaucet: 80 | None +AdjustWaterTemperature: 54 | None +TurnOffStove: 32 | None +TurnOnStove: 42 | None +AdjustToasterOvenTemperature: 30 | None +AVG: 53.5 | nan + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 26/26 +- expected episodes per task: 50 +CHECK PASSED diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.34 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.48 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.88 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..24f829579ddba28bc97042b1604cfb849fe84ec6 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.84 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.54 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..fdef758fa6347b21c68f825694da92b1232e4691 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.7 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..52936d3f2e553b4881130dd0bd4eaeed1ff3b57e --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.32 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a2da3e2ae5f4745c4b5ac46af6e02aa9a54c7aa4 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.94 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3ea8bed945dbdad5e6f525ef763bbd94c1cbf5b2 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.68 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.38 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d8cd07d1c0b368bbd29e4e592d28868e10256ff1 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustToasterOvenTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.2 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/AdjustWaterTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.54 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8bcbedfc561d6a43c3875750df6696276885344f --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.04 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..24f829579ddba28bc97042b1604cfb849fe84ec6 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseFridge/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.84 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..cefca40f97b8e5d8fbb07603e0a548dc6927332a --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.8 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/CoffeeSetupMug/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.44 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.38 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4b53abff8b682d1bd470bd415c4c8f3d9d8585d0 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenCabinet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.5 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.44 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e24b6825563d943916fe7f0a4b2b5e13735163a2 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenElectricKettleLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.52 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/OpenStandMixerHead/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..cba16cfe0e764b8a3fedec013140f5682bdbba42 --- /dev/null +++ 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"num_episodes": 50, + "success_rate": 0.44 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..26d3ad0b4ea0fb7d90334d3a51ca57c2774baf49 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.42 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json new file mode 100644 index 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a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/SlideDishwasherRack/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.74 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..2b911ebbef26e31ed525a85f1ad91f67ac30366a --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.24 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.88 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOffStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.36 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnElectricKettle/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.66 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..52936d3f2e553b4881130dd0bd4eaeed1ff3b57e --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.32 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.66 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..59402c6e17787ddf501a5d504d0f2994b4dc82cb --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnOnStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.36 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a2da3e2ae5f4745c4b5ac46af6e02aa9a54c7aa4 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/evals/pretrain/TurnSinkSpout/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.94 +} \ No newline at end of file diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/resolved_config.yaml b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c8b08d8256b6153a3ce9886350f712abf7b79db6 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/resolved_config.yaml @@ -0,0 +1,34 @@ +experiment_name: rkd_phase3_fm_only +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.1/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd +sweep: + loss_strategy: + - fm_only + rkd_temp: + - 0.1 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_only + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: 0.1 + rkd_vlm_temp: 0.1 + rkd_relation_mode: token_pair_mean +resolved_sweep: + loss_strategy: fm_only + rkd_temp: 0.1 diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/rkd_phase3_fm_only.yaml b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/rkd_phase3_fm_only.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba2baa2b5cd5422f3a074de5972708bd70ac762e --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/rkd_phase3_fm_only.yaml @@ -0,0 +1,31 @@ +experiment_name: rkd_phase3_fm_only +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_${sweep.rkd_temp}/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd +sweep: + loss_strategy: + - fm_only + rkd_temp: + - 0.1 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_only + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: ${sweep.rkd_temp} + rkd_vlm_temp: ${sweep.rkd_temp} + rkd_relation_mode: token_pair_mean diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/selected_eval_config.yaml b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/selected_eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c8b08d8256b6153a3ce9886350f712abf7b79db6 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/selected_eval_config.yaml @@ -0,0 +1,34 @@ +experiment_name: rkd_phase3_fm_only +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.1/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd +sweep: + loss_strategy: + - fm_only + rkd_temp: + - 0.1 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_only + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: 0.1 + rkd_vlm_temp: 0.1 + rkd_relation_mode: token_pair_mean +resolved_sweep: + loss_strategy: fm_only + rkd_temp: 0.1 diff --git a/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/summary.txt b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..8884e72ba40c2afe39392db88393b0ff009e75b2 --- /dev/null +++ b/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/summary.txt @@ -0,0 +1,56 @@ +Eval metadata +- total_eval_time: 3h 11m 59s (11519.08s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1 +- video_dir: /home/seonho/groot_robocasa/Experiments/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 8009 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/rkd_phase3_fm_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/rkd_phase3_fm_only.yaml + - /home/seonho/groot_robocasa/Experiments/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/selected_eval_config.yaml + +Stats for task group: MY_ATOMIC26 +CloseBlenderLid: 4 | None +CloseFridge: 84 | None +CloseToasterOvenDoor: 80 | None +CoffeeSetupMug: 44 | None +NavigateKitchen: 38 | None +OpenCabinet: 50 | None +OpenDrawer: 44 | None +OpenStandMixerHead: 82 | None +PickPlaceCounterToCabinet: 56 | None +PickPlaceCounterToStove: 44 | None +PickPlaceDrawerToCounter: 42 | None +PickPlaceSinkToCounter: 60 | None +PickPlaceToasterToCounter: 76 | None +PickPlaceCabinetToCounter: 46 | None +TurnOnElectricKettle: 66 | None +TurnOnMicrowave: 32 | None +TurnOffMicrowave: 24 | None +OpenElectricKettleLid: 52 | None +SlideDishwasherRack: 74 | None +TurnOnSinkFaucet: 66 | None +TurnSinkSpout: 94 | None +TurnOffSinkFaucet: 88 | None +AdjustWaterTemperature: 54 | None +TurnOffStove: 36 | None +TurnOnStove: 36 | None +AdjustToasterOvenTemperature: 20 | None +AVG: 53.5 | nan + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 26/26 +- expected episodes per task: 50 +CHECK PASSED