diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cdae2d4ee5d89822b136ee9bbb7c60d24cb16480 --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: take_off_weighing_scales +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbf032217423c9cf252e68d35b92f91cb1f88d0e --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=take_off_weighing_scales + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=take_off_weighing_scales + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d8e83ab29a593d6d32260d9b547d423703d5843c --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=take_off_weighing_scales +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..655fd5e406176548077c66c744d99331b2321b6d --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc9f94eac46b87931b8bb1527870e90582ce3d93ead4fb4cfc8d53aaaa7c3c84 +size 118382614 diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..2992558fac07fc777d009058b9595f53c4d70cf6 --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e4f339f8b56c39a8c5ca8b59c4f03fe576b2aa79b4de084ff4532675e5f81ee +size 118382614 diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..c5e87fdbaa7450a7950c56078b94c084fdb54091 --- /dev/null +++ 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0000000000000000000000000000000000000000..06c307890840e3f6e5f8bace8407ba79727d60ff --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4630d255a4200f0a885a7ce021024f46a756d82c118c200b362d1409f162ef02 +size 118382614 diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/train_st.log b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..6301a1fd10dd0d86a1568d526ee67866551e0dac --- /dev/null +++ b/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-27 15:10:02,659][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-27 15:10:02,686][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-27 15:10:24,506][src.logger][INFO] - Step 100: total_loss=0.599368 +[2026-01-27 15:10:45,615][src.logger][INFO] - Step 200: total_loss=0.276747 +[2026-01-27 15:11:06,962][src.logger][INFO] - Step 300: total_loss=0.208297 +[2026-01-27 15:11:28,007][src.logger][INFO] - Step 400: total_loss=0.198543 +[2026-01-27 15:11:49,083][src.logger][INFO] - Step 500: total_loss=0.115872 +[2026-01-27 15:12:10,188][src.logger][INFO] - Step 600: total_loss=0.108124 +[2026-01-27 15:12:31,708][src.logger][INFO] - Step 700: total_loss=0.113365 +[2026-01-27 15:12:52,818][src.logger][INFO] - Step 800: total_loss=0.102324 +[2026-01-27 15:13:13,939][src.logger][INFO] - Step 900: total_loss=0.089179 +[2026-01-27 15:13:34,944][src.logger][INFO] - Step 1000: total_loss=0.097387 +[2026-01-27 15:13:55,913][src.logger][INFO] - Step 1100: total_loss=0.082524 +[2026-01-27 15:14:16,886][src.logger][INFO] - Step 1200: total_loss=0.079408 +[2026-01-27 15:14:37,826][src.logger][INFO] - Step 1300: total_loss=0.076037 +[2026-01-27 15:14:58,871][src.logger][INFO] - Step 1400: total_loss=0.082683 +[2026-01-27 15:15:20,086][src.logger][INFO] - Step 1500: total_loss=0.075721 +[2026-01-27 15:15:41,210][src.logger][INFO] - Step 1600: total_loss=0.065948 +[2026-01-27 15:16:02,187][src.logger][INFO] - Step 1700: total_loss=0.074493 +[2026-01-27 15:16:23,270][src.logger][INFO] - Step 1800: total_loss=0.068511 +[2026-01-27 15:16:44,323][src.logger][INFO] - Step 1900: total_loss=0.059258 +[2026-01-27 15:17:05,284][src.logger][INFO] - Step 2000: total_loss=0.057032 +[2026-01-27 15:17:26,397][src.logger][INFO] - Step 2100: total_loss=0.066238 +[2026-01-27 15:17:47,276][src.logger][INFO] - Step 2200: total_loss=0.065065 +[2026-01-27 15:18:08,271][src.logger][INFO] - Step 2300: total_loss=0.054960 +[2026-01-27 15:18:29,202][src.logger][INFO] - Step 2400: total_loss=0.068875 +[2026-01-27 15:18:50,082][src.logger][INFO] - Step 2500: total_loss=0.053397 +[2026-01-27 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17:54:25,381][src.logger][INFO] - Step 44000: total_loss=0.011964 +[2026-01-27 17:54:46,490][src.logger][INFO] - Step 44100: total_loss=0.007393 +[2026-01-27 17:55:08,022][src.logger][INFO] - Step 44200: total_loss=0.008216 +[2026-01-27 17:55:29,343][src.logger][INFO] - Step 44300: total_loss=0.007733 +[2026-01-27 17:55:50,917][src.logger][INFO] - Step 44400: total_loss=0.009948 +[2026-01-27 17:56:13,338][src.logger][INFO] - Step 44500: total_loss=0.007498 +[2026-01-27 17:56:34,598][src.logger][INFO] - Step 44600: total_loss=0.005620 +[2026-01-27 17:56:56,098][src.logger][INFO] - Step 44700: total_loss=0.009914 +[2026-01-27 17:57:18,145][src.logger][INFO] - Step 44800: total_loss=0.008705 +[2026-01-27 17:57:39,777][src.logger][INFO] - Step 44900: total_loss=0.010017 +[2026-01-27 17:58:01,033][src.logger][INFO] - Step 45000: total_loss=0.005810 +[2026-01-27 17:58:22,521][src.logger][INFO] - Step 45100: total_loss=0.009890 +[2026-01-27 17:58:43,732][src.logger][INFO] - Step 45200: total_loss=0.008806 +[2026-01-27 17:59:04,968][src.logger][INFO] - Step 45300: total_loss=0.008519 +[2026-01-27 17:59:26,005][src.logger][INFO] - Step 45400: total_loss=0.010159 +[2026-01-27 17:59:47,112][src.logger][INFO] - Step 45500: total_loss=0.007674 +[2026-01-27 18:00:08,403][src.logger][INFO] - Step 45600: total_loss=0.010334 +[2026-01-27 18:00:29,814][src.logger][INFO] - Step 45700: total_loss=0.006149 +[2026-01-27 18:00:51,210][src.logger][INFO] - Step 45800: total_loss=0.007333 +[2026-01-27 18:01:12,512][src.logger][INFO] - Step 45900: total_loss=0.007047 +[2026-01-27 18:01:33,687][src.logger][INFO] - Step 46000: total_loss=0.007511 +[2026-01-27 18:01:55,127][src.logger][INFO] - Step 46100: total_loss=0.006429 +[2026-01-27 18:02:16,654][src.logger][INFO] - Step 46200: total_loss=0.008103 +[2026-01-27 18:02:38,395][src.logger][INFO] - Step 46300: total_loss=0.008866 +[2026-01-27 18:02:59,940][src.logger][INFO] - Step 46400: total_loss=0.007412 +[2026-01-27 18:03:21,267][src.logger][INFO] - Step 46500: total_loss=0.010587 +[2026-01-27 18:03:43,763][src.logger][INFO] - Step 46600: total_loss=0.008933 +[2026-01-27 18:04:05,319][src.logger][INFO] - Step 46700: total_loss=0.009287 +[2026-01-27 18:04:27,122][src.logger][INFO] - Step 46800: total_loss=0.009327 +[2026-01-27 18:04:48,784][src.logger][INFO] - Step 46900: total_loss=0.008102 +[2026-01-27 18:05:10,337][src.logger][INFO] - Step 47000: total_loss=0.007233 +[2026-01-27 18:05:31,646][src.logger][INFO] - Step 47100: total_loss=0.008668 +[2026-01-27 18:05:52,977][src.logger][INFO] - Step 47200: total_loss=0.007032 +[2026-01-27 18:06:15,190][src.logger][INFO] - Step 47300: total_loss=0.006857 +[2026-01-27 18:06:36,401][src.logger][INFO] - Step 47400: total_loss=0.006379 +[2026-01-27 18:06:57,642][src.logger][INFO] - Step 47500: total_loss=0.006765 +[2026-01-27 18:07:18,876][src.logger][INFO] - Step 47600: total_loss=0.007783 +[2026-01-27 18:07:40,061][src.logger][INFO] - Step 47700: total_loss=0.005814 +[2026-01-27 18:08:02,548][src.logger][INFO] - Step 47800: total_loss=0.007055 +[2026-01-27 18:08:23,740][src.logger][INFO] - Step 47900: total_loss=0.007886 +[2026-01-27 18:08:44,823][src.logger][INFO] - Step 48000: total_loss=0.010379 +[2026-01-27 18:09:06,276][src.logger][INFO] - Step 48100: total_loss=0.005646 +[2026-01-27 18:09:27,189][src.logger][INFO] - Step 48200: total_loss=0.005076 +[2026-01-27 18:09:48,208][src.logger][INFO] - Step 48300: total_loss=0.006056 +[2026-01-27 18:10:09,479][src.logger][INFO] - Step 48400: total_loss=0.005108 +[2026-01-27 18:10:30,469][src.logger][INFO] - Step 48500: total_loss=0.007208 +[2026-01-27 18:10:51,955][src.logger][INFO] - Step 48600: total_loss=0.008083 +[2026-01-27 18:11:13,566][src.logger][INFO] - Step 48700: total_loss=0.008209 +[2026-01-27 18:11:34,686][src.logger][INFO] - Step 48800: total_loss=0.006712 +[2026-01-27 18:11:56,061][src.logger][INFO] - Step 48900: total_loss=0.006063 +[2026-01-27 18:12:18,349][src.logger][INFO] - Step 49000: total_loss=0.006966 +[2026-01-27 18:12:39,694][src.logger][INFO] - Step 49100: total_loss=0.007436 +[2026-01-27 18:13:00,960][src.logger][INFO] - Step 49200: total_loss=0.004933 +[2026-01-27 18:13:21,927][src.logger][INFO] - Step 49300: total_loss=0.007404 +[2026-01-27 18:13:43,273][src.logger][INFO] - Step 49400: total_loss=0.004185 +[2026-01-27 18:14:04,788][src.logger][INFO] - Step 49500: total_loss=0.004568 +[2026-01-27 18:14:26,294][src.logger][INFO] - Step 49600: total_loss=0.009493 +[2026-01-27 18:14:47,694][src.logger][INFO] - Step 49700: total_loss=0.007899 +[2026-01-27 18:15:08,607][src.logger][INFO] - Step 49800: total_loss=0.005276 +[2026-01-27 18:15:30,293][src.logger][INFO] - Step 49900: total_loss=0.005336 +[2026-01-27 18:15:52,492][src.logger][INFO] - Step 50000: total_loss=0.005839 +[2026-01-27 18:15:52,939][src.logger][INFO] - Finished training! diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..069a03dbdb7de171ebd6f2b3a988fdb240433deb --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: insert_usb_in_computer +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22f4ec7b0fda9590f1c66eab25a70d0e956b81a5 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=insert_usb_in_computer + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=insert_usb_in_computer + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51dec624fe6d4b12e01b973fe91b53ecf3c83ad2 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=insert_usb_in_computer +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..0b71620fdfecdaf17929b3a917079a598b74cb92 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86b112b4f1efca2b0e8b9c126cc6357461ab01420a93465a6c952f4a80501df7 +size 118382614 diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..3ca3ce9282aa2b3aad3658f1d73b86031634c3f7 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:574963c5ce90ebce2dc0ce968c84b3130ebb1ce68fc88601cf134b80077a0611 +size 118382614 diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..53f21a488c24ae994d84bf13e4f0a88b504870d5 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a399ca15b4c21e8f387dbb101ff9bd0fe11f49b33139917e228cbe464bceee8f +size 118382614 diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..d81f24e5b05317a795bb1941280985f7c9bc95b7 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f8dd2006fdf324e1714d70ea922e084fea80275e2fa21086668e1e2186547e5 +size 118382614 diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..d2da48f334e8534b0bb5240456d4fbff674be0f3 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6a9047761039b18686d637265b40179d1f82dcd0f16bc772b169f64b293543c +size 118382614 diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/train_st.log b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..f17c19f2f6103d9fda089d1539f2662de7822cc8 --- /dev/null +++ b/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-27 15:10:57,149][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-27 15:10:57,176][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-27 15:11:18,069][src.logger][INFO] - Step 100: total_loss=0.584261 +[2026-01-27 15:11:38,565][src.logger][INFO] - Step 200: 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18:05:53,107][src.logger][INFO] - Step 49200: total_loss=0.003558 +[2026-01-27 18:06:14,781][src.logger][INFO] - Step 49300: total_loss=0.003770 +[2026-01-27 18:06:35,786][src.logger][INFO] - Step 49400: total_loss=0.002444 +[2026-01-27 18:06:56,333][src.logger][INFO] - Step 49500: total_loss=0.003518 +[2026-01-27 18:07:16,939][src.logger][INFO] - Step 49600: total_loss=0.005014 +[2026-01-27 18:07:37,993][src.logger][INFO] - Step 49700: total_loss=0.003250 +[2026-01-27 18:08:00,222][src.logger][INFO] - Step 49800: total_loss=0.003323 +[2026-01-27 18:08:21,022][src.logger][INFO] - Step 49900: total_loss=0.003302 +[2026-01-27 18:08:41,760][src.logger][INFO] - Step 50000: total_loss=0.003764 +[2026-01-27 18:08:42,103][src.logger][INFO] - Finished training! diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..146e356f1dae021052f9ecd8de17d5087bb24b41 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: hit_ball_with_queue +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20a8ee43cf8290be0ad5b89ca4cde8efce6ce265 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=hit_ball_with_queue + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=hit_ball_with_queue + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99b1251bcb4f4cabcab4cec298a2ce17eebdca19 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=hit_ball_with_queue +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..792a432bdd9101cfa58a56275fb265a51b1803c6 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cfbbbe09a8f8f0fe24a6d4956ba0264eaf2150a991f2ce3d52b7728e85ef5cc +size 118382614 diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 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b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..3f6ba9d53c2b0cc2b091ed12892f7d77a08513a0 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d9cbdee9b85bf99dcf5db627c74c9706c54f20de1cb7ea979214e68ab9f5253 +size 118382614 diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..10bb043a986ecddc774d914b74d85157a5810f2d --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b50abaea6465a86ede3166d7580b7f68129bdcdc5e0cc4d7b147130d1f4e600 +size 118382614 diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/train_st.log b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..dde559ec0347cabe7ba14596ec00cf51e389a5b9 --- /dev/null +++ b/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-27 15:24:04,582][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-27 15:24:04,610][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-27 15:24:25,510][src.logger][INFO] - Step 100: total_loss=0.613626 +[2026-01-27 15:24:46,076][src.logger][INFO] - Step 200: total_loss=0.300868 +[2026-01-27 15:25:07,379][src.logger][INFO] - Step 300: total_loss=0.231290 +[2026-01-27 15:25:27,990][src.logger][INFO] - Step 400: total_loss=0.222071 +[2026-01-27 15:25:49,193][src.logger][INFO] - Step 500: total_loss=0.135841 +[2026-01-27 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total_loss=0.009963 +[2026-01-27 18:02:40,298][src.logger][INFO] - Step 44600: total_loss=0.007684 +[2026-01-27 18:03:01,426][src.logger][INFO] - Step 44700: total_loss=0.011518 +[2026-01-27 18:03:22,362][src.logger][INFO] - Step 44800: total_loss=0.012221 +[2026-01-27 18:03:44,446][src.logger][INFO] - Step 44900: total_loss=0.012375 +[2026-01-27 18:04:05,811][src.logger][INFO] - Step 45000: total_loss=0.007362 +[2026-01-27 18:04:26,988][src.logger][INFO] - Step 45100: total_loss=0.012648 +[2026-01-27 18:04:47,930][src.logger][INFO] - Step 45200: total_loss=0.010128 +[2026-01-27 18:05:08,535][src.logger][INFO] - Step 45300: total_loss=0.015061 +[2026-01-27 18:05:28,884][src.logger][INFO] - Step 45400: total_loss=0.011816 +[2026-01-27 18:05:49,644][src.logger][INFO] - Step 45500: total_loss=0.010785 +[2026-01-27 18:06:11,045][src.logger][INFO] - Step 45600: total_loss=0.012204 +[2026-01-27 18:06:32,108][src.logger][INFO] - Step 45700: total_loss=0.008181 +[2026-01-27 18:06:52,724][src.logger][INFO] - Step 45800: total_loss=0.009308 +[2026-01-27 18:07:13,105][src.logger][INFO] - Step 45900: total_loss=0.011163 +[2026-01-27 18:07:33,820][src.logger][INFO] - Step 46000: total_loss=0.010846 +[2026-01-27 18:07:54,282][src.logger][INFO] - Step 46100: total_loss=0.009931 +[2026-01-27 18:08:16,625][src.logger][INFO] - Step 46200: total_loss=0.010420 +[2026-01-27 18:08:37,277][src.logger][INFO] - Step 46300: total_loss=0.009018 +[2026-01-27 18:08:58,012][src.logger][INFO] - Step 46400: total_loss=0.008628 +[2026-01-27 18:09:18,207][src.logger][INFO] - Step 46500: total_loss=0.014017 +[2026-01-27 18:09:38,040][src.logger][INFO] - Step 46600: total_loss=0.011004 +[2026-01-27 18:09:58,340][src.logger][INFO] - Step 46700: total_loss=0.009643 +[2026-01-27 18:10:18,793][src.logger][INFO] - Step 46800: total_loss=0.010582 +[2026-01-27 18:10:39,321][src.logger][INFO] - Step 46900: total_loss=0.009845 +[2026-01-27 18:10:59,856][src.logger][INFO] - Step 47000: total_loss=0.008730 +[2026-01-27 18:11:20,378][src.logger][INFO] - Step 47100: total_loss=0.011021 +[2026-01-27 18:11:40,855][src.logger][INFO] - Step 47200: total_loss=0.010879 +[2026-01-27 18:12:01,324][src.logger][INFO] - Step 47300: total_loss=0.009207 +[2026-01-27 18:12:22,606][src.logger][INFO] - Step 47400: total_loss=0.008262 +[2026-01-27 18:12:43,087][src.logger][INFO] - Step 47500: total_loss=0.008260 +[2026-01-27 18:13:03,911][src.logger][INFO] - Step 47600: total_loss=0.008476 +[2026-01-27 18:13:24,406][src.logger][INFO] - Step 47700: total_loss=0.008591 +[2026-01-27 18:13:44,729][src.logger][INFO] - Step 47800: total_loss=0.009518 +[2026-01-27 18:14:05,073][src.logger][INFO] - Step 47900: total_loss=0.010229 +[2026-01-27 18:14:25,207][src.logger][INFO] - Step 48000: total_loss=0.012919 +[2026-01-27 18:14:45,396][src.logger][INFO] - Step 48100: total_loss=0.008153 +[2026-01-27 18:15:05,689][src.logger][INFO] - Step 48200: total_loss=0.007611 +[2026-01-27 18:15:26,119][src.logger][INFO] - Step 48300: total_loss=0.006848 +[2026-01-27 18:15:46,386][src.logger][INFO] - Step 48400: total_loss=0.008149 +[2026-01-27 18:16:07,220][src.logger][INFO] - Step 48500: total_loss=0.008998 +[2026-01-27 18:16:26,973][src.logger][INFO] - Step 48600: total_loss=0.009207 +[2026-01-27 18:16:46,819][src.logger][INFO] - Step 48700: total_loss=0.009641 +[2026-01-27 18:17:07,294][src.logger][INFO] - Step 48800: total_loss=0.008817 +[2026-01-27 18:17:27,334][src.logger][INFO] - Step 48900: total_loss=0.008813 +[2026-01-27 18:17:47,719][src.logger][INFO] - Step 49000: total_loss=0.009897 +[2026-01-27 18:18:07,724][src.logger][INFO] - Step 49100: total_loss=0.010541 +[2026-01-27 18:18:28,121][src.logger][INFO] - Step 49200: total_loss=0.008451 +[2026-01-27 18:18:48,388][src.logger][INFO] - Step 49300: total_loss=0.012043 +[2026-01-27 18:19:08,736][src.logger][INFO] - Step 49400: total_loss=0.006641 +[2026-01-27 18:19:29,049][src.logger][INFO] - Step 49500: total_loss=0.006541 +[2026-01-27 18:19:49,091][src.logger][INFO] - Step 49600: total_loss=0.011626 +[2026-01-27 18:20:09,105][src.logger][INFO] - Step 49700: total_loss=0.010513 +[2026-01-27 18:20:29,249][src.logger][INFO] - Step 49800: total_loss=0.007976 +[2026-01-27 18:20:49,646][src.logger][INFO] - Step 49900: total_loss=0.008742 +[2026-01-27 18:21:09,799][src.logger][INFO] - Step 50000: total_loss=0.007742 +[2026-01-27 18:21:10,223][src.logger][INFO] - Finished training! diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20b8784d84405792d2c18fd241b11f5ba3d00711 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: toilet_seat_down +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d5025ecd9e4b3899d8529f676ef0d964b2cf352 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=toilet_seat_down + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=toilet_seat_down + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8bdfb53e89857aaa4e6c7e458aa816d128e103a2 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=toilet_seat_down +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..143e0455c75e8dc010c5cbb9b322878dfcdd0347 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52865263245e55f26ed49ab83e5141f4387f1bebc72a9c366518b7d20bda754c +size 118382614 diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..62c5c9477d0d9177ada9b9b28f905d22b19e6a73 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edf8989b818b480e037413bbee265b5b9e11df1c8a6c020b6959c54c2cc71b56 +size 118382614 diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..b6522a277d06bf1bcaaa4d93bbff9ee698aa28ff --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ffedecf7867424ec42aaa99fb6ce080ae1550a0b6ded43082bbd0b948338b1d +size 118382614 diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..8fddf78abe507685048b3d4728bb77ba12f347a3 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3993ddb769c9fa74e3584dd346c4a3c21a608fb3e55636c2828e47da57a6c5a9 +size 118382614 diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..bf6248622aa790e4a12838fc475cc38d173e83b7 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e272c09ad0e084e296c649b1315fadf4c0c194830af34bb30e98c7924c66a33 +size 118382614 diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ 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total_loss=0.005486 +[2026-01-27 21:06:01,247][src.logger][INFO] - Finished training! diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ff9e0b03ca187d2bd48460167f8d65fabe7c06c2 --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: close_drawer +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6fbceb4f0a1b18f94502cb6586ac6dd2c6e04157 --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=close_drawer + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=close_drawer + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/18.16.04_close_drawer_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/.hydra/overrides.yaml 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+size 118382614 diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/train_st.log b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..5b35ca87a14610280fb18c1e111750c0cc4f26ea --- /dev/null +++ b/2026.01.27/18.16.04_close_drawer_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-27 18:16:39,358][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-27 18:16:39,386][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-27 18:17:01,062][src.logger][INFO] - Step 100: total_loss=0.580097 +[2026-01-27 18:17:22,050][src.logger][INFO] - Step 200: total_loss=0.250785 +[2026-01-27 18:17:42,895][src.logger][INFO] - Step 300: total_loss=0.191227 +[2026-01-27 18:18:03,794][src.logger][INFO] - Step 400: total_loss=0.165006 +[2026-01-27 18:18:24,501][src.logger][INFO] - Step 500: total_loss=0.095900 +[2026-01-27 18:18:45,264][src.logger][INFO] - Step 600: total_loss=0.099836 +[2026-01-27 18:19:06,065][src.logger][INFO] - Step 700: total_loss=0.099391 +[2026-01-27 18:19:26,995][src.logger][INFO] - Step 800: total_loss=0.086724 +[2026-01-27 18:19:47,680][src.logger][INFO] - Step 900: total_loss=0.072064 +[2026-01-27 18:20:08,412][src.logger][INFO] - Step 1000: total_loss=0.078475 +[2026-01-27 18:20:29,231][src.logger][INFO] - Step 1100: total_loss=0.069575 +[2026-01-27 18:20:49,879][src.logger][INFO] - Step 1200: total_loss=0.061236 +[2026-01-27 18:21:10,597][src.logger][INFO] - Step 1300: total_loss=0.068102 +[2026-01-27 18:21:31,373][src.logger][INFO] - Step 1400: total_loss=0.069572 +[2026-01-27 18:21:51,852][src.logger][INFO] - Step 1500: total_loss=0.063992 +[2026-01-27 18:22:12,406][src.logger][INFO] - Step 1600: total_loss=0.053791 +[2026-01-27 18:22:33,041][src.logger][INFO] - Step 1700: total_loss=0.058970 +[2026-01-27 18:22:54,345][src.logger][INFO] - Step 1800: total_loss=0.056460 +[2026-01-27 18:23:15,590][src.logger][INFO] - Step 1900: 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20:55:50,787][src.logger][INFO] - Step 44600: total_loss=0.005108 +[2026-01-27 20:56:11,819][src.logger][INFO] - Step 44700: total_loss=0.006238 +[2026-01-27 20:56:33,321][src.logger][INFO] - Step 44800: total_loss=0.007126 +[2026-01-27 20:56:54,399][src.logger][INFO] - Step 44900: total_loss=0.005549 +[2026-01-27 20:57:15,573][src.logger][INFO] - Step 45000: total_loss=0.004436 +[2026-01-27 20:57:37,038][src.logger][INFO] - Step 45100: total_loss=0.008962 +[2026-01-27 20:57:58,003][src.logger][INFO] - Step 45200: total_loss=0.007057 +[2026-01-27 20:58:18,895][src.logger][INFO] - Step 45300: total_loss=0.006630 +[2026-01-27 20:58:39,947][src.logger][INFO] - Step 45400: total_loss=0.008285 +[2026-01-27 20:59:01,121][src.logger][INFO] - Step 45500: total_loss=0.004928 +[2026-01-27 20:59:22,120][src.logger][INFO] - Step 45600: total_loss=0.006398 +[2026-01-27 20:59:43,258][src.logger][INFO] - Step 45700: total_loss=0.007897 +[2026-01-27 21:00:04,350][src.logger][INFO] - Step 45800: 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21:04:41,111][src.logger][INFO] - Step 47100: total_loss=0.010225 +[2026-01-27 21:05:03,017][src.logger][INFO] - Step 47200: total_loss=0.006707 +[2026-01-27 21:05:24,627][src.logger][INFO] - Step 47300: total_loss=0.005839 +[2026-01-27 21:05:45,742][src.logger][INFO] - Step 47400: total_loss=0.005057 +[2026-01-27 21:06:07,927][src.logger][INFO] - Step 47500: total_loss=0.004062 +[2026-01-27 21:06:28,893][src.logger][INFO] - Step 47600: total_loss=0.005117 +[2026-01-27 21:06:49,617][src.logger][INFO] - Step 47700: total_loss=0.004916 +[2026-01-27 21:07:10,263][src.logger][INFO] - Step 47800: total_loss=0.005417 +[2026-01-27 21:07:31,025][src.logger][INFO] - Step 47900: total_loss=0.004206 +[2026-01-27 21:07:52,261][src.logger][INFO] - Step 48000: total_loss=0.005999 +[2026-01-27 21:08:13,391][src.logger][INFO] - Step 48100: total_loss=0.004098 +[2026-01-27 21:08:34,607][src.logger][INFO] - Step 48200: total_loss=0.004362 +[2026-01-27 21:08:55,926][src.logger][INFO] - Step 48300: total_loss=0.003992 +[2026-01-27 21:09:17,332][src.logger][INFO] - Step 48400: total_loss=0.004313 +[2026-01-27 21:09:39,007][src.logger][INFO] - Step 48500: total_loss=0.004307 +[2026-01-27 21:10:00,268][src.logger][INFO] - Step 48600: total_loss=0.003949 +[2026-01-27 21:10:21,314][src.logger][INFO] - Step 48700: total_loss=0.006464 +[2026-01-27 21:10:42,446][src.logger][INFO] - Step 48800: total_loss=0.004965 +[2026-01-27 21:11:04,803][src.logger][INFO] - Step 48900: total_loss=0.005431 +[2026-01-27 21:11:26,040][src.logger][INFO] - Step 49000: total_loss=0.004542 +[2026-01-27 21:11:47,272][src.logger][INFO] - Step 49100: total_loss=0.005617 +[2026-01-27 21:12:08,329][src.logger][INFO] - Step 49200: total_loss=0.004230 +[2026-01-27 21:12:29,408][src.logger][INFO] - Step 49300: total_loss=0.006429 +[2026-01-27 21:12:50,814][src.logger][INFO] - Step 49400: total_loss=0.002557 +[2026-01-27 21:13:11,899][src.logger][INFO] - Step 49500: total_loss=0.003126 +[2026-01-27 21:13:32,881][src.logger][INFO] - Step 49600: total_loss=0.007607 +[2026-01-27 21:13:53,845][src.logger][INFO] - Step 49700: total_loss=0.004212 +[2026-01-27 21:14:14,987][src.logger][INFO] - Step 49800: total_loss=0.003801 +[2026-01-27 21:14:36,041][src.logger][INFO] - Step 49900: total_loss=0.006141 +[2026-01-27 21:14:57,394][src.logger][INFO] - Step 50000: total_loss=0.004070 +[2026-01-27 21:14:57,550][src.logger][INFO] - Finished training! diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0479479284d9397a8053064a449148518963c4e3 --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: put_groceries_in_cupboard +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d55ed4e4c82c37bfab3d772e4d8b38528773f5e4 --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=put_groceries_in_cupboard + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=put_groceries_in_cupboard + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ea4523fa659a26e254b0333e2f78057f265e8e5 --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=put_groceries_in_cupboard +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..b9093a8b026ffbbb2e4d3b07f50e7ec518c0e8ba --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3032e3d20c8826eb7ebe2575ce73d110d4004c15cdb69b0fe5b0fc741db25764 +size 118382614 diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..8995c27f84feea2feb8e32e4b21788a4b9078882 --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4b981a83a6f1669e81daf394b7c190d880a8c6e73f35f81b1091593a8ed4260 +size 118382614 diff --git 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0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/18.21.22_put_groceries_in_cupboard_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- 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total_loss=0.011448 +[2026-01-27 21:16:22,619][src.logger][INFO] - Step 48600: total_loss=0.010956 +[2026-01-27 21:16:43,924][src.logger][INFO] - Step 48700: total_loss=0.010948 +[2026-01-27 21:17:05,298][src.logger][INFO] - Step 48800: total_loss=0.011697 +[2026-01-27 21:17:26,692][src.logger][INFO] - Step 48900: total_loss=0.011937 +[2026-01-27 21:17:48,035][src.logger][INFO] - Step 49000: total_loss=0.009889 +[2026-01-27 21:18:09,322][src.logger][INFO] - Step 49100: total_loss=0.012261 +[2026-01-27 21:18:30,718][src.logger][INFO] - Step 49200: total_loss=0.007641 +[2026-01-27 21:18:52,020][src.logger][INFO] - Step 49300: total_loss=0.011971 +[2026-01-27 21:19:13,453][src.logger][INFO] - Step 49400: total_loss=0.006980 +[2026-01-27 21:19:35,851][src.logger][INFO] - Step 49500: total_loss=0.006791 +[2026-01-27 21:19:57,884][src.logger][INFO] - Step 49600: total_loss=0.014431 +[2026-01-27 21:20:19,503][src.logger][INFO] - Step 49700: total_loss=0.009974 +[2026-01-27 21:20:41,283][src.logger][INFO] - Step 49800: total_loss=0.009495 +[2026-01-27 21:21:02,788][src.logger][INFO] - Step 49900: total_loss=0.011598 +[2026-01-27 21:21:25,473][src.logger][INFO] - Step 50000: total_loss=0.008463 +[2026-01-27 21:21:25,757][src.logger][INFO] - Finished training! diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5464ea02a18419ec5f85523e056102a0dee98e77 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: toilet_seat_up +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eff128d177885662a87d4d3c2ef2e808ce13596c --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=toilet_seat_up + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=toilet_seat_up + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d332da5b8437159297e57e450b69ce465f5a3b08 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=toilet_seat_up +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..b8d5c0c20a47b60c53bcfa66f87ef7249047b87e --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c537b99760df654978191d49e469ca64affed1727ce225ac014cb4f75489d9 +size 118382614 diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..6fd0c17e5699c537dd9e30adff311658f9fb639c --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b3da0c09d8e253424b8c084728fdd8099930780495a5d5c122af67795e91f3d +size 118382614 diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..14db219bb08bf6707f613b14f3120df5317e9a50 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version 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b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ee49fd3a9a38e05d9ad19f72df0e3a23a7561e536a43b901f48e07db8e0c5a1 +size 118382614 diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/train_st.log b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..6bf401152463f7fcbe40b58ea623b727deae84f8 --- /dev/null +++ b/2026.01.27/21.06.12_toilet_seat_up_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-27 21:07:08,765][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-27 21:07:08,793][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-27 21:07:30,391][src.logger][INFO] - Step 100: total_loss=0.574402 +[2026-01-27 21:07:51,834][src.logger][INFO] - Step 200: total_loss=0.250199 +[2026-01-27 21:08:13,458][src.logger][INFO] - Step 300: total_loss=0.190445 +[2026-01-27 21:08:35,064][src.logger][INFO] - Step 400: total_loss=0.171183 +[2026-01-27 21:08:56,596][src.logger][INFO] - Step 500: total_loss=0.105032 +[2026-01-27 21:09:18,177][src.logger][INFO] - Step 600: total_loss=0.107123 +[2026-01-27 21:09:40,076][src.logger][INFO] - Step 700: total_loss=0.100468 +[2026-01-27 21:10:02,408][src.logger][INFO] - Step 800: total_loss=0.090939 +[2026-01-27 21:10:23,791][src.logger][INFO] - Step 900: total_loss=0.077170 +[2026-01-27 21:10:45,167][src.logger][INFO] - Step 1000: total_loss=0.077240 +[2026-01-27 21:11:07,904][src.logger][INFO] - Step 1100: total_loss=0.074926 +[2026-01-27 21:11:29,305][src.logger][INFO] - Step 1200: total_loss=0.068383 +[2026-01-27 21:11:50,694][src.logger][INFO] - Step 1300: total_loss=0.070357 +[2026-01-27 21:12:12,198][src.logger][INFO] - Step 1400: total_loss=0.067417 +[2026-01-27 21:12:33,700][src.logger][INFO] - Step 1500: total_loss=0.063127 +[2026-01-27 21:12:55,318][src.logger][INFO] - Step 1600: total_loss=0.050259 +[2026-01-27 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total_loss=0.006844 +[2026-01-27 23:50:10,651][src.logger][INFO] - Step 44400: total_loss=0.009457 +[2026-01-27 23:50:34,173][src.logger][INFO] - Step 44500: total_loss=0.006434 +[2026-01-27 23:50:58,264][src.logger][INFO] - Step 44600: total_loss=0.003983 +[2026-01-27 23:51:21,184][src.logger][INFO] - Step 44700: total_loss=0.005976 +[2026-01-27 23:51:45,708][src.logger][INFO] - Step 44800: total_loss=0.007230 +[2026-01-27 23:52:08,711][src.logger][INFO] - Step 44900: total_loss=0.005178 +[2026-01-27 23:52:31,919][src.logger][INFO] - Step 45000: total_loss=0.003721 +[2026-01-27 23:52:54,429][src.logger][INFO] - Step 45100: total_loss=0.007643 +[2026-01-27 23:53:17,245][src.logger][INFO] - Step 45200: total_loss=0.005933 +[2026-01-27 23:53:40,407][src.logger][INFO] - Step 45300: total_loss=0.006269 +[2026-01-27 23:54:03,052][src.logger][INFO] - Step 45400: total_loss=0.006532 +[2026-01-27 23:54:26,866][src.logger][INFO] - Step 45500: total_loss=0.005703 +[2026-01-27 23:54:50,575][src.logger][INFO] - Step 45600: total_loss=0.009662 +[2026-01-27 23:55:13,777][src.logger][INFO] - Step 45700: total_loss=0.006247 +[2026-01-27 23:55:37,781][src.logger][INFO] - Step 45800: total_loss=0.005720 +[2026-01-27 23:56:01,756][src.logger][INFO] - Step 45900: total_loss=0.005450 +[2026-01-27 23:56:25,785][src.logger][INFO] - Step 46000: total_loss=0.007619 +[2026-01-27 23:56:49,425][src.logger][INFO] - Step 46100: total_loss=0.005391 +[2026-01-27 23:57:13,136][src.logger][INFO] - Step 46200: total_loss=0.006062 +[2026-01-27 23:57:36,490][src.logger][INFO] - Step 46300: total_loss=0.004985 +[2026-01-27 23:58:00,538][src.logger][INFO] - Step 46400: total_loss=0.004735 +[2026-01-27 23:58:24,084][src.logger][INFO] - Step 46500: total_loss=0.009158 +[2026-01-27 23:58:47,173][src.logger][INFO] - Step 46600: total_loss=0.005580 +[2026-01-27 23:59:09,813][src.logger][INFO] - Step 46700: total_loss=0.008265 +[2026-01-27 23:59:33,060][src.logger][INFO] - Step 46800: total_loss=0.006527 +[2026-01-27 23:59:55,976][src.logger][INFO] - Step 46900: total_loss=0.006996 +[2026-01-28 00:00:19,179][src.logger][INFO] - Step 47000: total_loss=0.005112 +[2026-01-28 00:00:41,667][src.logger][INFO] - Step 47100: total_loss=0.005980 +[2026-01-28 00:01:03,348][src.logger][INFO] - Step 47200: total_loss=0.006231 +[2026-01-28 00:01:25,417][src.logger][INFO] - Step 47300: total_loss=0.005498 +[2026-01-28 00:01:48,738][src.logger][INFO] - Step 47400: total_loss=0.005475 +[2026-01-28 00:02:10,413][src.logger][INFO] - Step 47500: total_loss=0.004931 +[2026-01-28 00:02:32,008][src.logger][INFO] - Step 47600: total_loss=0.004554 +[2026-01-28 00:02:53,516][src.logger][INFO] - Step 47700: total_loss=0.005541 +[2026-01-28 00:03:14,868][src.logger][INFO] - Step 47800: total_loss=0.004845 +[2026-01-28 00:03:36,985][src.logger][INFO] - Step 47900: total_loss=0.004884 +[2026-01-28 00:03:58,460][src.logger][INFO] - Step 48000: total_loss=0.006623 +[2026-01-28 00:04:19,853][src.logger][INFO] - Step 48100: total_loss=0.004346 +[2026-01-28 00:04:41,254][src.logger][INFO] - Step 48200: total_loss=0.004035 +[2026-01-28 00:05:02,606][src.logger][INFO] - Step 48300: total_loss=0.004279 +[2026-01-28 00:05:24,018][src.logger][INFO] - Step 48400: total_loss=0.004071 +[2026-01-28 00:05:45,595][src.logger][INFO] - Step 48500: total_loss=0.008712 +[2026-01-28 00:06:07,075][src.logger][INFO] - Step 48600: total_loss=0.004371 +[2026-01-28 00:06:28,538][src.logger][INFO] - Step 48700: total_loss=0.005648 +[2026-01-28 00:06:49,978][src.logger][INFO] - Step 48800: total_loss=0.007013 +[2026-01-28 00:07:11,361][src.logger][INFO] - Step 48900: total_loss=0.005659 +[2026-01-28 00:07:32,786][src.logger][INFO] - Step 49000: total_loss=0.004425 +[2026-01-28 00:07:54,140][src.logger][INFO] - Step 49100: total_loss=0.005727 +[2026-01-28 00:08:15,363][src.logger][INFO] - Step 49200: total_loss=0.003280 +[2026-01-28 00:08:36,789][src.logger][INFO] - Step 49300: total_loss=0.005532 +[2026-01-28 00:08:58,229][src.logger][INFO] - Step 49400: total_loss=0.002937 +[2026-01-28 00:09:19,615][src.logger][INFO] - Step 49500: total_loss=0.003397 +[2026-01-28 00:09:40,965][src.logger][INFO] - Step 49600: total_loss=0.006794 +[2026-01-28 00:10:02,355][src.logger][INFO] - Step 49700: total_loss=0.004470 +[2026-01-28 00:10:23,542][src.logger][INFO] - Step 49800: total_loss=0.003766 +[2026-01-28 00:10:44,792][src.logger][INFO] - Step 49900: total_loss=0.005591 +[2026-01-28 00:11:06,107][src.logger][INFO] - Step 50000: total_loss=0.004419 +[2026-01-28 00:11:06,256][src.logger][INFO] - Finished training! diff --git a/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43bcec51f438e74f2f2410909f0dcc2a7113cd7f --- /dev/null +++ b/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: close_box +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c197747868169731e048ec453d28124ff545ec0 --- /dev/null +++ b/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=close_box + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=close_box + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/21.15.08_close_box_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fb31c53e4ff682f8ac1030154683a45d2f695e42 --- /dev/null +++ b/2026.01.27/21.15.08_close_box_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=close_box +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/21.15.08_close_box_nobs1_nseq50/checkpoints/stdp_10000.pt 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00:13:16,656][src.logger][INFO] - Step 49100: total_loss=0.005995 +[2026-01-28 00:13:38,109][src.logger][INFO] - Step 49200: total_loss=0.005018 +[2026-01-28 00:13:59,545][src.logger][INFO] - Step 49300: total_loss=0.005962 +[2026-01-28 00:14:20,835][src.logger][INFO] - Step 49400: total_loss=0.003945 +[2026-01-28 00:14:42,175][src.logger][INFO] - Step 49500: total_loss=0.004951 +[2026-01-28 00:15:03,603][src.logger][INFO] - Step 49600: total_loss=0.008290 +[2026-01-28 00:15:25,076][src.logger][INFO] - Step 49700: total_loss=0.005042 +[2026-01-28 00:15:46,585][src.logger][INFO] - Step 49800: total_loss=0.004696 +[2026-01-28 00:16:08,184][src.logger][INFO] - Step 49900: total_loss=0.004940 +[2026-01-28 00:16:30,014][src.logger][INFO] - Step 50000: total_loss=0.005376 +[2026-01-28 00:16:30,197][src.logger][INFO] - Finished training! diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/config.yaml b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0b640ffb2555f5cbfd11f7327959c58858fa3e1c --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: turn_oven_on +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1b07e121e96e3212d400eace7dcf94a5ff72d558 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=turn_oven_on + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=turn_oven_on + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8fb6c91654f5a564e796595dd6683c096b62aa4b --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=turn_oven_on +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..c5da5779e6fc799ebf5a8960b7ec44535e774af3 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eb52a311bcb195c2e1650d5585ad6b884003b2e41886d70cbe4b300f9c82303 +size 118382614 diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..0c9c44a03a0147ce5757d41bdc60df8e62fe3e6c --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:469c4196daa08aa4afd1c42cb336576720dc3c737913bb238495b883d084fc36 +size 118382614 diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..75ad205d243b5dfe8c65be54db1dbddb8b460298 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2aa97037a2960e76bd1cd08f7e5bcb4a1caa790c5f883d823cbaa9daf70e4f3c +size 118382614 diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..520f06c6f7d87adc5f9792998a82acfcc075685f --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:307e8f3017583ebda09f683bc46715ce1346e7d6bbe8f99a99042fab354a16c6 +size 118382614 diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..81269028b2d51cdd68cfb7478566f0429fe9551a --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05f01d8ff31e537a886e8f41967e22c2acbde5fbc9741bc8314160939f26571c +size 118382614 diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/train_st.log b/2026.01.27/21.21.36_turn_oven_on_nobs1_nseq50/train_st.log new file mode 100644 index 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00:10:47,687][src.logger][INFO] - Step 46100: total_loss=0.009041 +[2026-01-28 00:11:09,077][src.logger][INFO] - Step 46200: total_loss=0.007928 +[2026-01-28 00:11:30,655][src.logger][INFO] - Step 46300: total_loss=0.005735 +[2026-01-28 00:11:52,182][src.logger][INFO] - Step 46400: total_loss=0.008624 +[2026-01-28 00:12:13,639][src.logger][INFO] - Step 46500: total_loss=0.010077 +[2026-01-28 00:12:35,105][src.logger][INFO] - Step 46600: total_loss=0.009461 +[2026-01-28 00:12:56,798][src.logger][INFO] - Step 46700: total_loss=0.009701 +[2026-01-28 00:13:18,432][src.logger][INFO] - Step 46800: total_loss=0.009447 +[2026-01-28 00:13:40,121][src.logger][INFO] - Step 46900: total_loss=0.010139 +[2026-01-28 00:14:01,808][src.logger][INFO] - Step 47000: total_loss=0.006255 +[2026-01-28 00:14:23,473][src.logger][INFO] - Step 47100: total_loss=0.009494 +[2026-01-28 00:14:45,105][src.logger][INFO] - Step 47200: total_loss=0.010163 +[2026-01-28 00:15:07,005][src.logger][INFO] - Step 47300: total_loss=0.009753 +[2026-01-28 00:15:28,850][src.logger][INFO] - Step 47400: total_loss=0.008518 +[2026-01-28 00:15:50,439][src.logger][INFO] - Step 47500: total_loss=0.006218 +[2026-01-28 00:16:12,462][src.logger][INFO] - Step 47600: total_loss=0.007001 +[2026-01-28 00:16:34,575][src.logger][INFO] - Step 47700: total_loss=0.006723 +[2026-01-28 00:16:56,343][src.logger][INFO] - Step 47800: total_loss=0.007534 +[2026-01-28 00:17:17,711][src.logger][INFO] - Step 47900: total_loss=0.008172 +[2026-01-28 00:17:39,100][src.logger][INFO] - Step 48000: total_loss=0.009773 +[2026-01-28 00:18:01,072][src.logger][INFO] - Step 48100: total_loss=0.005794 +[2026-01-28 00:18:22,445][src.logger][INFO] - Step 48200: total_loss=0.005725 +[2026-01-28 00:18:43,904][src.logger][INFO] - Step 48300: total_loss=0.006609 +[2026-01-28 00:19:05,468][src.logger][INFO] - Step 48400: total_loss=0.010436 +[2026-01-28 00:19:26,853][src.logger][INFO] - Step 48500: total_loss=0.006768 +[2026-01-28 00:19:48,209][src.logger][INFO] - Step 48600: total_loss=0.007974 +[2026-01-28 00:20:09,537][src.logger][INFO] - Step 48700: total_loss=0.008322 +[2026-01-28 00:20:30,840][src.logger][INFO] - Step 48800: total_loss=0.007347 +[2026-01-28 00:20:52,163][src.logger][INFO] - Step 48900: total_loss=0.008006 +[2026-01-28 00:21:13,508][src.logger][INFO] - Step 49000: total_loss=0.006136 +[2026-01-28 00:21:34,803][src.logger][INFO] - Step 49100: total_loss=0.007669 +[2026-01-28 00:21:56,189][src.logger][INFO] - Step 49200: total_loss=0.004887 +[2026-01-28 00:22:17,561][src.logger][INFO] - Step 49300: total_loss=0.007722 +[2026-01-28 00:22:38,801][src.logger][INFO] - Step 49400: total_loss=0.003880 +[2026-01-28 00:23:00,198][src.logger][INFO] - Step 49500: total_loss=0.005265 +[2026-01-28 00:23:21,603][src.logger][INFO] - Step 49600: total_loss=0.010567 +[2026-01-28 00:23:42,972][src.logger][INFO] - Step 49700: total_loss=0.006948 +[2026-01-28 00:24:04,192][src.logger][INFO] - Step 49800: total_loss=0.006114 +[2026-01-28 00:24:25,543][src.logger][INFO] - Step 49900: total_loss=0.007362 +[2026-01-28 00:24:46,988][src.logger][INFO] - Step 50000: total_loss=0.004769 +[2026-01-28 00:24:47,319][src.logger][INFO] - Finished training! diff --git a/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/config.yaml b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e8b73ab4a07168448fefa5ef352b7fedffc888d --- /dev/null +++ b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: take_money_out_safe +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d9e3ec9cd9f56db49c35b83a57b8733f7f2e9cb --- /dev/null +++ b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=take_money_out_safe + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=take_money_out_safe + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..479653686f7ae346fb3a8994bd051d460ff63891 --- /dev/null +++ b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=take_money_out_safe +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..8467769d649270ee234e39a35792ccd6a0e36f59 --- /dev/null +++ b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76a26716347704107577eb428db45efaa7a81de905fce8f659a4cbc9f99b39cd +size 118382614 diff --git a/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..f55c2e2a00eb2937fd46d7827b870b0baf6aa701 --- /dev/null +++ b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2f6e0af529c7deb1eb2ececd381b45795050d2857329eed4025a071dd1970fb +size 118382614 diff --git a/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..28f5025a4d7b87d3fda715bfdbb56091d8c3f2df --- /dev/null +++ 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0000000000000000000000000000000000000000..4d19373ca855160b4c7b908a7c332485529881d0 --- /dev/null +++ b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e8d08bbe77fdf734bdcb9ae7c6bb185e5dc93c6b88841d93102e31ca0d06ff0 +size 118382614 diff --git a/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.11.17_take_money_out_safe_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git 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03:11:57,157][src.logger][INFO] - Step 49000: total_loss=0.004707 +[2026-01-28 03:12:18,595][src.logger][INFO] - Step 49100: total_loss=0.005687 +[2026-01-28 03:12:39,944][src.logger][INFO] - Step 49200: total_loss=0.004102 +[2026-01-28 03:13:01,197][src.logger][INFO] - Step 49300: total_loss=0.005362 +[2026-01-28 03:13:22,427][src.logger][INFO] - Step 49400: total_loss=0.003417 +[2026-01-28 03:13:43,835][src.logger][INFO] - Step 49500: total_loss=0.004088 +[2026-01-28 03:14:05,108][src.logger][INFO] - Step 49600: total_loss=0.008484 +[2026-01-28 03:14:26,373][src.logger][INFO] - Step 49700: total_loss=0.005120 +[2026-01-28 03:14:47,829][src.logger][INFO] - Step 49800: total_loss=0.004574 +[2026-01-28 03:15:09,224][src.logger][INFO] - Step 49900: total_loss=0.005069 +[2026-01-28 03:15:30,547][src.logger][INFO] - Step 50000: total_loss=0.003825 +[2026-01-28 03:15:30,699][src.logger][INFO] - Finished training! diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/config.yaml b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..35b4d5f1b9a5d8d4e24cc48dd7f06d9ef74781f0 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: close_fridge +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..962d0ca20cc223ba1f2cd8fde2c2d53ad2f79e2b --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=close_fridge + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=close_fridge + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.28/00.16.42_close_fridge_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..72f4df01b38542bdbc8fdea93c34871700e6cac6 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=close_fridge +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..5256841b0b67df9914c15abaa19562029a75f330 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4edc16f6a3a271019d7557ffb1f23d3b17e07ff3cda8fa06390e10257751250 +size 118382614 diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..63bbe347e589a5ce3c670c0f62157cd280443c08 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d53a8988ace5c468240fe26834f03a606b9b2f2ee74c5f31845472bce0292a2f +size 118382614 diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..26d941ebb63a938c9861362c3511b8716a739fc2 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5a99779d22539f04d86bb3b37e4338beae68bc058f4f9fe6e8fa43204a7fc3a +size 118382614 diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..fd3c132c3e01f3e73a901a96d489afaef102859c --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d05430cf5edf54f316e7d1f7e58f6a5cbfedd6f3071b1bc67e7d53aa62bf8c89 +size 118382614 diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..e21fbde6312b82e279a4dd952ee71da4a02d735a --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4998c7ea255e6b575f93703a204cdeca190cf704303f4b8b536e66ebe3676a8 +size 118382614 diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/train_st.log b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..69cc574ac50ca85c1e3c040bcc05ae6230fd76c3 --- /dev/null +++ b/2026.01.28/00.16.42_close_fridge_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-28 00:17:21,415][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-28 00:17:21,443][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-28 00:17:43,544][src.logger][INFO] - Step 100: total_loss=0.564969 +[2026-01-28 00:18:05,609][src.logger][INFO] - Step 200: total_loss=0.238854 +[2026-01-28 00:18:27,160][src.logger][INFO] - Step 300: total_loss=0.182012 +[2026-01-28 00:18:48,569][src.logger][INFO] - Step 400: total_loss=0.163519 +[2026-01-28 00:19:10,026][src.logger][INFO] - Step 500: total_loss=0.088217 +[2026-01-28 00:19:31,467][src.logger][INFO] - Step 600: total_loss=0.092690 +[2026-01-28 00:19:52,847][src.logger][INFO] - Step 700: total_loss=0.092507 +[2026-01-28 00:20:14,579][src.logger][INFO] - Step 800: total_loss=0.082870 +[2026-01-28 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total_loss=0.007220 +[2026-01-28 03:09:49,038][src.logger][INFO] - Step 47400: total_loss=0.006418 +[2026-01-28 03:10:10,379][src.logger][INFO] - Step 47500: total_loss=0.005622 +[2026-01-28 03:10:31,786][src.logger][INFO] - Step 47600: total_loss=0.006985 +[2026-01-28 03:10:53,175][src.logger][INFO] - Step 47700: total_loss=0.005700 +[2026-01-28 03:11:14,471][src.logger][INFO] - Step 47800: total_loss=0.009055 +[2026-01-28 03:11:35,777][src.logger][INFO] - Step 47900: total_loss=0.007014 +[2026-01-28 03:11:57,181][src.logger][INFO] - Step 48000: total_loss=0.008011 +[2026-01-28 03:12:18,635][src.logger][INFO] - Step 48100: total_loss=0.006164 +[2026-01-28 03:12:40,039][src.logger][INFO] - Step 48200: total_loss=0.005965 +[2026-01-28 03:13:01,300][src.logger][INFO] - Step 48300: total_loss=0.004901 +[2026-01-28 03:13:22,621][src.logger][INFO] - Step 48400: total_loss=0.004488 +[2026-01-28 03:13:43,946][src.logger][INFO] - Step 48500: total_loss=0.007690 +[2026-01-28 03:14:05,182][src.logger][INFO] - Step 48600: total_loss=0.005084 +[2026-01-28 03:14:26,503][src.logger][INFO] - Step 48700: total_loss=0.008391 +[2026-01-28 03:14:48,021][src.logger][INFO] - Step 48800: total_loss=0.006102 +[2026-01-28 03:15:09,451][src.logger][INFO] - Step 48900: total_loss=0.009368 +[2026-01-28 03:15:30,790][src.logger][INFO] - Step 49000: total_loss=0.005963 +[2026-01-28 03:15:52,181][src.logger][INFO] - Step 49100: total_loss=0.008674 +[2026-01-28 03:16:13,510][src.logger][INFO] - Step 49200: total_loss=0.003963 +[2026-01-28 03:16:34,769][src.logger][INFO] - Step 49300: total_loss=0.009013 +[2026-01-28 03:16:56,263][src.logger][INFO] - Step 49400: total_loss=0.004700 +[2026-01-28 03:17:17,690][src.logger][INFO] - Step 49500: total_loss=0.003938 +[2026-01-28 03:17:39,071][src.logger][INFO] - Step 49600: total_loss=0.009373 +[2026-01-28 03:18:01,043][src.logger][INFO] - Step 49700: total_loss=0.005753 +[2026-01-28 03:18:22,689][src.logger][INFO] - Step 49800: total_loss=0.004551 +[2026-01-28 03:18:44,514][src.logger][INFO] - Step 49900: total_loss=0.006224 +[2026-01-28 03:19:06,937][src.logger][INFO] - Step 50000: total_loss=0.005461 +[2026-01-28 03:19:07,340][src.logger][INFO] - Finished training! diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/config.yaml b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..244287c9ebdf464b4d6ae9067181c0347d8a0299 --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: basketball_in_hoop +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..26d382ecf7d59a07697db8f746a1427ba13793f5 --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=basketball_in_hoop + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=basketball_in_hoop + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..199ba56bb7630494633f88297c0d56088cfa808d --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=basketball_in_hoop +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..b61427a296ab3e558b86e629a1cb99b4469361da --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version 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b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51a445fd2867a190ac91ecb2872bd6d6c2da3a8e9c74ca001dfc02ffdc0b8dd3 +size 118382614 diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..33332dfaaa18aa8a67265a0332aa433cbfd46226 --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf34f70c667faed9c19531c961a3b9fe1cf7352eacc0437681430e30af98cc50 +size 118382614 diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..75391b6622e02b97a861d0718b2ac068646ca77a --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47c810b40d512427eba49ab7c892e4cfadb7f38811871d7a28769793a63c5390 +size 118382614 diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.28/00.24.58_basketball_in_hoop_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ 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total_loss=0.007280 +[2026-01-28 03:09:12,779][src.logger][INFO] - Step 45300: total_loss=0.009208 +[2026-01-28 03:09:34,036][src.logger][INFO] - Step 45400: total_loss=0.008650 +[2026-01-28 03:09:55,250][src.logger][INFO] - Step 45500: total_loss=0.006551 +[2026-01-28 03:10:16,528][src.logger][INFO] - Step 45600: total_loss=0.009426 +[2026-01-28 03:10:37,811][src.logger][INFO] - Step 45700: total_loss=0.007254 +[2026-01-28 03:10:59,093][src.logger][INFO] - Step 45800: total_loss=0.007755 +[2026-01-28 03:11:20,292][src.logger][INFO] - Step 45900: total_loss=0.007068 +[2026-01-28 03:11:41,427][src.logger][INFO] - Step 46000: total_loss=0.006674 +[2026-01-28 03:12:02,796][src.logger][INFO] - Step 46100: total_loss=0.007546 +[2026-01-28 03:12:24,180][src.logger][INFO] - Step 46200: total_loss=0.007749 +[2026-01-28 03:12:45,398][src.logger][INFO] - Step 46300: total_loss=0.006959 +[2026-01-28 03:13:06,578][src.logger][INFO] - Step 46400: total_loss=0.006736 +[2026-01-28 03:13:27,862][src.logger][INFO] - Step 46500: total_loss=0.009421 +[2026-01-28 03:13:49,155][src.logger][INFO] - Step 46600: total_loss=0.007285 +[2026-01-28 03:14:10,360][src.logger][INFO] - Step 46700: total_loss=0.008405 +[2026-01-28 03:14:31,654][src.logger][INFO] - Step 46800: total_loss=0.006775 +[2026-01-28 03:14:52,933][src.logger][INFO] - Step 46900: total_loss=0.007464 +[2026-01-28 03:15:14,196][src.logger][INFO] - Step 47000: total_loss=0.007161 +[2026-01-28 03:15:35,464][src.logger][INFO] - Step 47100: total_loss=0.008219 +[2026-01-28 03:15:56,961][src.logger][INFO] - Step 47200: total_loss=0.008478 +[2026-01-28 03:16:18,248][src.logger][INFO] - Step 47300: total_loss=0.007758 +[2026-01-28 03:16:39,461][src.logger][INFO] - Step 47400: total_loss=0.007679 +[2026-01-28 03:17:00,877][src.logger][INFO] - Step 47500: total_loss=0.006792 +[2026-01-28 03:17:22,204][src.logger][INFO] - Step 47600: total_loss=0.005960 +[2026-01-28 03:17:43,424][src.logger][INFO] - Step 47700: total_loss=0.006244 +[2026-01-28 03:18:05,357][src.logger][INFO] - Step 47800: total_loss=0.006953 +[2026-01-28 03:18:26,989][src.logger][INFO] - Step 47900: total_loss=0.006819 +[2026-01-28 03:18:48,767][src.logger][INFO] - Step 48000: total_loss=0.008711 +[2026-01-28 03:19:11,248][src.logger][INFO] - Step 48100: total_loss=0.005571 +[2026-01-28 03:19:32,855][src.logger][INFO] - Step 48200: total_loss=0.005901 +[2026-01-28 03:19:54,377][src.logger][INFO] - Step 48300: total_loss=0.005366 +[2026-01-28 03:20:15,818][src.logger][INFO] - Step 48400: total_loss=0.005561 +[2026-01-28 03:20:37,385][src.logger][INFO] - Step 48500: total_loss=0.006757 +[2026-01-28 03:20:58,897][src.logger][INFO] - Step 48600: total_loss=0.006367 +[2026-01-28 03:21:21,268][src.logger][INFO] - Step 48700: total_loss=0.008295 +[2026-01-28 03:21:42,886][src.logger][INFO] - Step 48800: total_loss=0.007292 +[2026-01-28 03:22:05,836][src.logger][INFO] - Step 48900: total_loss=0.007273 +[2026-01-28 03:22:27,436][src.logger][INFO] - Step 49000: total_loss=0.006092 +[2026-01-28 03:22:49,816][src.logger][INFO] - Step 49100: total_loss=0.007633 +[2026-01-28 03:23:13,105][src.logger][INFO] - Step 49200: total_loss=0.005317 +[2026-01-28 03:23:34,730][src.logger][INFO] - Step 49300: total_loss=0.007897 +[2026-01-28 03:23:56,673][src.logger][INFO] - Step 49400: total_loss=0.004403 +[2026-01-28 03:24:18,490][src.logger][INFO] - Step 49500: total_loss=0.004706 +[2026-01-28 03:24:40,667][src.logger][INFO] - Step 49600: total_loss=0.008495 +[2026-01-28 03:25:02,071][src.logger][INFO] - Step 49700: total_loss=0.006950 +[2026-01-28 03:25:23,257][src.logger][INFO] - Step 49800: total_loss=0.004900 +[2026-01-28 03:25:44,674][src.logger][INFO] - Step 49900: total_loss=0.005882 +[2026-01-28 03:26:05,878][src.logger][INFO] - Step 50000: total_loss=0.005816 +[2026-01-28 03:26:06,368][src.logger][INFO] - Finished training! diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/config.yaml b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0eb94bf758b0d614a0d92c8b07ac7e81c9eac843 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: open_wine_bottle +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34e17bb23fe9dcbd32ea09b6a8f712b8da583819 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=open_wine_bottle + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=open_wine_bottle + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f629061a13050d7d1798be8c8daf6e1be65b1fe9 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=open_wine_bottle +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..2775df1ea05a30df25c1d2c135b2ee6823bc5d6b --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd322e1c27f36e04f946bf57ea449ad7c324e0ba70803cba32a989a87940cdd6 +size 118382614 diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..9841225578246fe60e16918b7d22520efe04b52a --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f0bc1e987482c9301c9fc832987cb18fda9ce891bce35948cba6b3d4a3a2514 +size 118382614 diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..c6b278b9daa7fbea3032df9452eea0716a152478 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2289ea8d3b6ab7ae41dab07bd661b6e21c580a43349646c9322fe230282a4ebf +size 118382614 diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..575e52bf609209b42d2408d40f7b2d28e868646d --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b7dcfee45ed0b6d9900b8c6e095309d7c1ee7ed5b09359433a127f02c1bacfe +size 118382614 diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..82e0cdc283b6b50b1690bfc1643b8584bc6a9488 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e08ad1e3159e7adadf1f3e7f24947c8ee36aa4b3873247d5af908d4f2068ff45 +size 118382614 diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/train_st.log b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..e424af7094f5cbf3d41b7d7dec7b53a5d3baaba8 --- /dev/null +++ b/2026.01.28/03.15.41_open_wine_bottle_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-28 03:16:27,911][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-28 03:16:27,940][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-28 03:16:49,795][src.logger][INFO] - Step 100: total_loss=0.610782 +[2026-01-28 03:17:11,602][src.logger][INFO] - Step 200: total_loss=0.296501 +[2026-01-28 03:17:33,033][src.logger][INFO] - Step 300: total_loss=0.235105 +[2026-01-28 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06:12:39,201][src.logger][INFO] - Step 48100: total_loss=0.008626 +[2026-01-28 06:13:01,496][src.logger][INFO] - Step 48200: total_loss=0.008177 +[2026-01-28 06:13:23,194][src.logger][INFO] - Step 48300: total_loss=0.006873 +[2026-01-28 06:13:44,609][src.logger][INFO] - Step 48400: total_loss=0.007753 +[2026-01-28 06:14:06,691][src.logger][INFO] - Step 48500: total_loss=0.008788 +[2026-01-28 06:14:28,658][src.logger][INFO] - Step 48600: total_loss=0.009624 +[2026-01-28 06:14:50,044][src.logger][INFO] - Step 48700: total_loss=0.011990 +[2026-01-28 06:15:13,799][src.logger][INFO] - Step 48800: total_loss=0.009458 +[2026-01-28 06:15:36,206][src.logger][INFO] - Step 48900: total_loss=0.011166 +[2026-01-28 06:15:58,535][src.logger][INFO] - Step 49000: total_loss=0.009190 +[2026-01-28 06:16:20,131][src.logger][INFO] - Step 49100: total_loss=0.011133 +[2026-01-28 06:16:41,269][src.logger][INFO] - Step 49200: total_loss=0.007605 +[2026-01-28 06:17:02,883][src.logger][INFO] - Step 49300: total_loss=0.011046 +[2026-01-28 06:17:24,802][src.logger][INFO] - Step 49400: total_loss=0.006492 +[2026-01-28 06:17:48,231][src.logger][INFO] - Step 49500: total_loss=0.006766 +[2026-01-28 06:18:11,316][src.logger][INFO] - Step 49600: total_loss=0.014684 +[2026-01-28 06:18:35,486][src.logger][INFO] - Step 49700: total_loss=0.010550 +[2026-01-28 06:18:57,485][src.logger][INFO] - Step 49800: total_loss=0.007223 +[2026-01-28 06:19:18,663][src.logger][INFO] - Step 49900: total_loss=0.008828 +[2026-01-28 06:19:39,744][src.logger][INFO] - Step 50000: total_loss=0.008514 +[2026-01-28 06:19:39,903][src.logger][INFO] - Finished training! diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/config.yaml b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33bb00a492a11c9999acc2ae20d12e9e0180cedd --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: take_usb_out_of_computer +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c576c29f9444e7f081d84e14a1617277a7494f4e --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=take_usb_out_of_computer + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=take_usb_out_of_computer + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..37dfce457f47f5015d97c4e98f91e49b60267f52 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=take_usb_out_of_computer +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..4c5fc057c820a8c5be74a77fd3bca615f22e9ecc --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d56b1fc7119031ea6106756256ab5096c72477aed8d29bd93d21e09729bff85 +size 118382614 diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..b0e40f51c76fdafa96d02fe887724d88e96a0e3a --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50b94c389422276aff2a0bcb4f0eee629664077bd9c4c5bd8258493de8d5880a +size 118382614 diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..bcb102afa14b672ad250f21986b5f33abc2a4656 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51f2620183f45bd337acf4cae4dc63b556df59024bbb00a30fe60a75a7754cb7 +size 118382614 diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..d27902b5a364d67b1cef84024c048adbe2d77216 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f91d0e0e6b6bc8a04d9e2b96784e852df8b54d8f5e55bca973bb719c2cca4ce +size 118382614 diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..f8b22324f1695d949222dd187d4e2fa31f3db049 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a96c7b44b40b5d2f7006a2dc2412aa9d267f3a85eca410dd88e4b8c02ac76e3 +size 118382614 diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.28/03.19.18_take_usb_out_of_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- 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total_loss=0.011353 +[2026-01-28 06:11:54,626][src.logger][INFO] - Step 48100: total_loss=0.006372 +[2026-01-28 06:12:18,978][src.logger][INFO] - Step 48200: total_loss=0.006892 +[2026-01-28 06:12:40,314][src.logger][INFO] - Step 48300: total_loss=0.006515 +[2026-01-28 06:13:02,992][src.logger][INFO] - Step 48400: total_loss=0.006462 +[2026-01-28 06:13:24,618][src.logger][INFO] - Step 48500: total_loss=0.008044 +[2026-01-28 06:13:45,951][src.logger][INFO] - Step 48600: total_loss=0.007482 +[2026-01-28 06:14:08,097][src.logger][INFO] - Step 48700: total_loss=0.011028 +[2026-01-28 06:14:29,703][src.logger][INFO] - Step 48800: total_loss=0.007378 +[2026-01-28 06:14:51,036][src.logger][INFO] - Step 48900: total_loss=0.009428 +[2026-01-28 06:15:14,844][src.logger][INFO] - Step 49000: total_loss=0.009018 +[2026-01-28 06:15:37,484][src.logger][INFO] - Step 49100: total_loss=0.010087 +[2026-01-28 06:15:59,699][src.logger][INFO] - Step 49200: total_loss=0.006173 +[2026-01-28 06:16:21,566][src.logger][INFO] - Step 49300: total_loss=0.010582 +[2026-01-28 06:16:42,862][src.logger][INFO] - Step 49400: total_loss=0.005555 +[2026-01-28 06:17:04,040][src.logger][INFO] - Step 49500: total_loss=0.006141 +[2026-01-28 06:17:25,967][src.logger][INFO] - Step 49600: total_loss=0.011082 +[2026-01-28 06:17:49,211][src.logger][INFO] - Step 49700: total_loss=0.007804 +[2026-01-28 06:18:12,201][src.logger][INFO] - Step 49800: total_loss=0.006947 +[2026-01-28 06:18:35,913][src.logger][INFO] - Step 49900: total_loss=0.007487 +[2026-01-28 06:18:57,305][src.logger][INFO] - Step 50000: total_loss=0.006973 +[2026-01-28 06:18:57,460][src.logger][INFO] - Finished training! diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/config.yaml b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..810d6fafcbb239dee3ae0c4096b22615d0ab9883 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/config.yaml @@ -0,0 +1,351 @@ +demos: 100 +num_train_steps: 50000 +batch_size: 128 +lr: 0.0001 +lr_backbone: 1.0e-05 +weight_decay: 0.0001 +update_every_steps: 1 +eval_every_steps: 10000 +log_eval_video: true +vis_every_steps: 2000 +save_every_steps: 10000 +num_eval_episodes: 25 +action_sequence: 50 +execution_length: 1 +inference_mode: TE +alpha: 0.25 +convergence_threshold: 0.05 +final_len: 5 +normalize_action: min_max +wandb: + use: true + project: CoA + name: null + save_dir: ${exp_root} + mode: offline +seed: 1 +num_gpus: 1 +log_every_steps: 100 +pixels: true +visual_observation_shape: +- 128 +- 128 +debug: false +env: + tasks: + basketball_in_hoop: + episode_length: 250 + beat_the_buzz: + episode_length: 250 + block_pyramid: + episode_length: 1130 + change_channel: + episode_length: 350 + change_clock: + episode_length: 300 + close_box: + episode_length: 280 + close_door: + episode_length: 230 + close_drawer: + episode_length: 180 + close_fridge: + episode_length: 240 + close_grill: + episode_length: 190 + close_jar: + episode_length: 400 + close_laptop_lid: + episode_length: 250 + close_microwave: + episode_length: 170 + empty_container: + episode_length: 3230 + empty_dishwasher: + episode_length: 690 + get_ice_from_fridge: + episode_length: 440 + hang_frame_on_hanger: + episode_length: 390 + hit_ball_with_queue: + episode_length: 280 + hockey: + episode_length: 360 + insert_onto_square_peg: + episode_length: 380 + insert_usb_in_computer: + episode_length: 210 + lamp_off: + episode_length: 190 + lamp_on: + episode_length: 180 + lift_numbered_block: + episode_length: 290 + light_bulb_in: + episode_length: 440 + light_bulb_out: + episode_length: 310 + meat_off_grill: + episode_length: 290 + meat_on_grill: + episode_length: 340 + move_hanger: + episode_length: 220 + open_box: + episode_length: 230 + open_door: + episode_length: 280 + open_drawer: + episode_length: 180 + open_fridge: + episode_length: 310 + open_grill: + episode_length: 270 + open_jar: + episode_length: 360 + open_microwave: + episode_length: 220 + open_oven: + episode_length: 500 + open_washing_machine: + episode_length: 310 + open_window: + episode_length: 280 + open_wine_bottle: + episode_length: 220 + phone_on_base: + episode_length: 350 + pick_and_lift: + episode_length: 380 + pick_and_lift_small: + episode_length: 280 + pick_up_cup: + episode_length: 300 + place_cups: + episode_length: 810 + place_hanger_on_rack: + episode_length: 330 + place_shape_in_shape_sorter: + episode_length: 330 + play_jenga: + episode_length: 160 + plug_charger_in_power_supply: + episode_length: 340 + pour_from_cup_to_cup: + episode_length: 410 + press_switch: + episode_length: 270 + push_button: + episode_length: 260 + push_buttons: + episode_length: 270 + put_all_groceries_in_cupboard: + episode_length: 2190 + put_books_on_bookshelf: + episode_length: 1100 + put_bottle_in_fridge: + episode_length: 540 + put_groceries_in_cupboard: + episode_length: 420 + put_item_in_drawer: + episode_length: 430 + put_knife_in_knife_block: + episode_length: 290 + put_knife_on_chopping_board: + episode_length: 500 + put_money_in_safe: + episode_length: 270 + put_plate_in_colored_dish_rack: + episode_length: 510 + put_rubbish_in_bin: + episode_length: 290 + put_shoes_in_box: + episode_length: 580 + put_toilet_roll_on_stand: + episode_length: 470 + put_tray_in_oven: + episode_length: 750 + put_umbrella_in_umbrella_stand: + episode_length: 420 + reach_and_drag: + episode_length: 330 + reach_target: + episode_length: 130 + remove_cups: + episode_length: 470 + scoop_with_spatula: + episode_length: 270 + screw_nail: + episode_length: 450 + set_the_table: + episode_length: 1140 + setup_checkers: + episode_length: 640 + setup_chess: + episode_length: 550 + slide_block_to_target: + episode_length: 180 + slide_cabinet_open: + episode_length: 420 + slide_cabinet_open_and_place_cups: + episode_length: 660 + solve_puzzle: + episode_length: 320 + stack_blocks: + episode_length: 1100 + stack_chairs: + episode_length: 550 + stack_cups: + episode_length: 500 + stack_wine: + episode_length: 250 + straighten_rope: + episode_length: 410 + sweep_to_dustpan: + episode_length: 170 + take_cup_out_from_cabinet: + episode_length: 540 + take_frame_off_hanger: + episode_length: 400 + take_item_out_of_drawer: + episode_length: 530 + take_lid_off_saucepan: + episode_length: 230 + take_money_out_safe: + episode_length: 330 + take_off_weighing_scales: + episode_length: 370 + take_plate_off_colored_dish_rack: + episode_length: 340 + take_shoes_out_of_box: + episode_length: 660 + take_toilet_roll_off_stand: + episode_length: 370 + take_tray_out_of_oven: + episode_length: 540 + take_umbrella_out_of_umbrella_stand: + episode_length: 210 + take_usb_out_of_computer: + episode_length: 140 + toilet_seat_down: + episode_length: 270 + toilet_seat_up: + episode_length: 340 + turn_oven_on: + episode_length: 280 + turn_tap: + episode_length: 250 + tv_on: + episode_length: 360 + unplug_charger: + episode_length: 230 + water_plants: + episode_length: 210 + wipe_desk: + episode_length: 400 + env_name: rlbench + task_name: ${task} + is_pkl: true + modality: rgb + action_mode: ABS_END_EFFECTOR_POSE + cameras: + - front + - wrist + - left_shoulder + - right_shoulder + renderer: opengl3 + arm_max_velocity: 1.0 + arm_max_acceleration: 4.0 + episode_length: ${env.tasks.${env.task_name}.episode_length} + episode_length_decay_rate: 1 + frame_stack: 1 +method_name: stdp +method: + _target_: src.methods.stdp.STDiffusionPolicy + lr: 0.0001 + lr_backbone: 1.0e-05 + weight_decay: 0.0001 + num_train_steps: 20000 + num_diffusion_iters: 50 + adaptive_lr: true + actor_grad_clip: null + use_lang_cond: false + action_padding: zero + action_order: FORWARD + action_mode: ${env.action_mode} + execution_length: ${execution_length} + interp_method: cubic + action_dim: 8 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 50 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${action_sequence} + n_obs_steps: 1 + n_action_steps: ${action_sequence} + lr_scheduler: cosine + keyframe_only: false + loss_mode: all + loss_weight_max: 1.0 + sample_mode: only_init + traj_sample_margin: 1 + gradient_accumulate_every: 1 + lr_warmup_steps: 1000 + num_epochs: 3050 + use_ema: true + num_inference_steps: 50 + pred_action_steps_only: false + eval_fixed_crop: false + crop_shape: + - 128 + - 128 + obs_encoder_group_norm: true + actor_model: + _target_: src.methods.stdp.STDiffusionTransformer + _partial_: true + input_dim: 8 + output_dim: 8 + horizon: ${action_sequence} + n_obs_steps: 1 + n_layer: 8 + n_head: 4 + n_emb: 256 + p_drop_emb: 0.0 + p_drop_attn: 0.3 + causal_attn: true + time_as_cond: true + obs_as_cond: true + n_cond_layers: 0 + encoder_model: + _target_: src.methods.stdp.ImageEncoder + _partial_: true + input_shape: + - 4 + - 3 + - 128 + - 128 + hidden_dim: 512 + position_embedding: sine + lr_backbone: ${method.lr_backbone} + masks: false + backbone: resnet18 + dilation: false + use_frozen_bn: false + use_lang_cond: ${method.use_lang_cond} +snapshot: null +tag: null +exp_root: . +num_workers: 0 +pin_memory: true +persistent_workers: true +prefetch_factor: 0 +task: push_buttons +dataset_root: data/rlbench +dataset_root_train: ${dataset_root}/train +dataset_root_eval: ${dataset_root}/eval +replay_path: data/replay/${dataset_root}/demos.hdf5 diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/hydra.yaml b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..233b5beaee5659d92d0b8a8ac7bef845376b6a67 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=push_buttons + - action_sequence=50 + - save_every_steps=10000 + - num_train_steps=50000 + job: + name: train_st + chdir: null + override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=push_buttons + id: ??? + num: ??? + config_name: launch_st + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.28/03.26.16_push_buttons_nobs1_nseq50 + choices: + method: stdp + env: episode_length + base: base_config_st + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/overrides.yaml b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..40c6e440aaf89f5f3b67c3e56fefde2d324d2e28 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=push_buttons +- action_sequence=50 +- save_every_steps=10000 +- num_train_steps=50000 diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_10000.pt b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_10000.pt new file mode 100644 index 0000000000000000000000000000000000000000..f8828dd62880a16ac8906561d9565035b1f6af86 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_10000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef07d0bd086baa8fd89bf82e2fe4fcceab2b463855a58661f76fde3d3e5cc33e +size 118382614 diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_20000.pt b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_20000.pt new file mode 100644 index 0000000000000000000000000000000000000000..a46f04f0c688b7aa7b511001adb9823e4c386db8 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_20000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30f3538c255e6a9a05cc05aa917cc82dccd55ffbc4aa85c3e6a9c7903d18b742 +size 118382614 diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_30000.pt b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_30000.pt new file mode 100644 index 0000000000000000000000000000000000000000..96b2b1cb8e8c932743d3e3bb7032f5582327ff89 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_30000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8583c635aba64bd1ec2c56c05fb08ff6c203b68dc6bb6c0d7b86d7708b0d88f +size 118382614 diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_40000.pt b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_40000.pt new file mode 100644 index 0000000000000000000000000000000000000000..72b723eb05e20cd0f139e9f44b2c7bfc9712184a --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_40000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6beb52a98a7eab83247708a830615b3d4d3863724a6368d9e73eef1bb89a8347 +size 118382614 diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_50000.pt b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_50000.pt new file mode 100644 index 0000000000000000000000000000000000000000..43031d45b4b2ea962ca6ed9c7cfd17dc812151c8 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/checkpoints/stdp_50000.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b65c4e462fd75a0f65dc39633a53373a4a414a8e48fea8242099040d0a330364 +size 118382614 diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e5dce4c70f19e00e493edc741fd0b40bc20c74 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json @@ -0,0 +1,5 @@ +{ +"success_ratio": , +"fail_ratio": , +"error_ratio": +} diff --git a/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/train_st.log b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/train_st.log new file mode 100644 index 0000000000000000000000000000000000000000..373969031eaa707e1ee1695c96e94be8250a9207 --- /dev/null +++ b/2026.01.28/03.26.16_push_buttons_nobs1_nseq50/train_st.log @@ -0,0 +1,503 @@ +[2026-01-28 03:26:45,757][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06 +[2026-01-28 03:26:45,785][src.logger][INFO] - Start training, total steps: 50000 +[2026-01-28 03:27:07,180][src.logger][INFO] - Step 100: total_loss=0.599179 +[2026-01-28 03:27:28,439][src.logger][INFO] - Step 200: total_loss=0.279803 +[2026-01-28 03:27:49,659][src.logger][INFO] - Step 300: total_loss=0.219753 +[2026-01-28 03:28:10,272][src.logger][INFO] - Step 400: total_loss=0.196762 +[2026-01-28 03:28:31,182][src.logger][INFO] - Step 500: total_loss=0.114697 +[2026-01-28 03:28:51,941][src.logger][INFO] - Step 600: total_loss=0.115114 +[2026-01-28 03:29:13,168][src.logger][INFO] - Step 700: total_loss=0.109284 +[2026-01-28 03:29:35,232][src.logger][INFO] - Step 800: total_loss=0.096130 +[2026-01-28 03:29:56,292][src.logger][INFO] - Step 900: total_loss=0.088126 +[2026-01-28 03:30:17,034][src.logger][INFO] - Step 1000: total_loss=0.091800 +[2026-01-28 03:30:37,589][src.logger][INFO] - Step 1100: total_loss=0.075235 +[2026-01-28 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total_loss=0.004757 +[2026-01-28 06:21:25,361][src.logger][INFO] - Step 48900: total_loss=0.005856 +[2026-01-28 06:21:45,444][src.logger][INFO] - Step 49000: total_loss=0.005405 +[2026-01-28 06:22:05,639][src.logger][INFO] - Step 49100: total_loss=0.005160 +[2026-01-28 06:22:25,754][src.logger][INFO] - Step 49200: total_loss=0.003268 +[2026-01-28 06:22:45,812][src.logger][INFO] - Step 49300: total_loss=0.005647 +[2026-01-28 06:23:05,752][src.logger][INFO] - Step 49400: total_loss=0.002886 +[2026-01-28 06:23:25,747][src.logger][INFO] - Step 49500: total_loss=0.003672 +[2026-01-28 06:23:45,597][src.logger][INFO] - Step 49600: total_loss=0.006154 +[2026-01-28 06:24:05,584][src.logger][INFO] - Step 49700: total_loss=0.004876 +[2026-01-28 06:24:25,493][src.logger][INFO] - Step 49800: total_loss=0.003535 +[2026-01-28 06:24:45,300][src.logger][INFO] - Step 49900: total_loss=0.004913 +[2026-01-28 06:25:05,236][src.logger][INFO] - Step 50000: total_loss=0.004057 +[2026-01-28 06:25:05,385][src.logger][INFO] - Finished training!