diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..42a520d0b29a2cb33196c3bc2d14dc93a1fd6fc4 --- /dev/null +++ b/README.md @@ -0,0 +1,109 @@ +--- +license: mit +pretty_name: EPCC checkpoints and data +tags: +- robotics +- world-model +- model-predictive-control +- diffusion +- imitation-learning +--- + +# EPCC: checkpoints and data + +Checkpoints, evaluation datasets and published run directories for +**Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play** +([arXiv:2609.22798](https://arxiv.org/abs/2609.22798)). +Code: [github.com/epcc-robotics/epcc](https://github.com/epcc-robotics/epcc). + +## Download + +```bash +hf download epcc-robotics/epcc --repo-type dataset --local-dir epcc_data # about 100 GB +export STABLEWM_HOME=$PWD/epcc_data/data # read by every evaluation cell +export EPCC_PUBLISHED=$PWD/epcc_data/published_runs # read by the Table I / II scorers +``` + +To rescore the paper's runs without running any policy, download only `published_runs/` (about 200 MB): + +```bash +hf download epcc-robotics/epcc --repo-type dataset --local-dir epcc_data --include "published_runs/*" +``` + +## Contents + +`data/` is the `STABLEWM_HOME` tree that the paper's evaluation cells +(`config/eval/cells/paper/` in the code repository) reference. `docs/DATA.md` in the code +repository lists every file with the cells that use it. File names are the ones the cells +were run with. + +| Path | Contents | +|---|---| +| `data/checkpoints/agg_plainM2_object.ckpt`, `agg_slipM1_object.ckpt`, `agg_slipM2_object.ckpt`, `agg_cubeM2_object.ckpt` | EPCC world models (PushT, Slippery-PushT, Cube), Table I and II | +| `data/checkpoints/dtg/` | contour generators (latent diffusion, one per task), Table I and II, Fig. 4, data scaling | +| `data/checkpoints/pusht_wm/`, `slippery_pusht/lewm/`, `cube_wm/` | base world models referenced by the baseline cells (`pusht_wm/lewm_object.ckpt` is the public LeWM PushT checkpoint) | +| `data/checkpoints/dp/`, `skip/`, `sail/`, `data/cube/dp/`, `data/cube/sail/` | Diffusion Policy, SkiP and SAIL baselines | +| `data/{pusht,slippery_pusht,cube}/sup/` | SuP baseline (ADM models and IQL gate) | +| `data/pusht_invdyn/`, `data/slippery_pusht/invdyn_base/`, `data/cube/invdyn/` | inverse-dynamics models (Table II) | +| `data/checkpoints/fricd0*0_object.ckpt`, `data/checkpoints/friction/` | world models and contour generators per friction level, Fig. 3a | +| `data/checkpoints/f4cold/`, `wm_demoonly/`, `wm_playsub/` | world models of the data-composition study, Fig. 4 | +| `data/checkpoints/scaling/` | world models of the data-scaling study (appendix) | +| `data/datasets/` | evaluation datasets: slow expert demonstrations for PushT, Slippery-PushT and Cube (initial states and goals) | +| `data/slippery_pusht/data/`, `data/{pusht,cube}/latents/` | demonstration sets and their latent encodings used by the contour generators | +| `data/{pusht,slippery_pusht,cube}/sail/awe/` | SAIL waypoint labels | +| `data/stats/` | observation / action scaler statistics of each world model's training corpus (the corpora themselves are not included) | +| `published_runs/findings/260907_final_dtg_s1_warm/` | Table I (EPCC, Play+Goal) and Table II run directories and scores | +| `published_runs/findings/261023_sup_robot/` | Table I SuP run directories and scores | +| `published_runs/findings/260521_baseline_setup/` | baseline run directories read by the Table I scorer (Diffusion Policy, SkiP, SAIL at each k, SuP) | + +Each run directory holds `rollout_traj.npz` (states, actions and success flags of every +episode), `meta.json` (the resolved configuration), the harness's `results.json` and, depending on +the policy, control-timing traces and candidate decisions. The paper's +success rates come from the scorers in the code repository (`paper/common/score_runs.py`), not +from `results.json`. + +Absolute paths recorded in configurations, checkpoint metadata and HDF5 attributes were shortened to +`${STABLEWM_HOME}/…`, `${REPO}/…` and `${TMPDIR}/…`, and the experiment-logging account name was +replaced by ``; the paths document provenance and need not match this layout. The +SAIL label files (`data/*/sail/awe/*.h5`) keep HDF5 external links to the images of the +demonstration file they were labelled from; that file is not included and evaluation does not +read these links. + +## License + +MIT, as the code. The PushT world models build on the +[LeWorldModel](https://github.com/lucas-maes/le-wm) PushT checkpoint (MIT). + +``` +Copyright (c) 2026 Lucas Maes +Copyright (c) 2026 the EPCC authors + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +``` + +## Citation + +```bibtex +@article{cho2026epcc, + title={Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play}, + author={Seunghoon Cho and Wonsuhk Jung and Sundhar Vinodh Sangeetha and Shreyas Kousik}, + journal={arXiv preprint arXiv:2609.22798}, + year={2026} +} +``` diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k1.5_n50_r1/meta.json b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k1.5_n50_r1/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48d999548e7b765eb7e385c30ac8907395c86ee5 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k1.5_n50_r1/meta.json @@ -0,0 +1,146 @@ +{ + "task": { + "task_name": "cube", + "env_name": "swm/OGBCube-v0", + "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11", + "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale", + "dataset_stats": "cube_multiview_WM", + "num_eval": 50, + "eval_budget": 471, + "goal_offset_steps": 25, + "control_timestep_s": 0.05, + "metrics": { + "_target_": "policy._metrics.CubeGTRMetrics", + "n_envs": "${task.num_eval}", + "control_timestep_s": "${task.control_timestep_s}" + } + }, + "policy": { + "_target_": "policy.sail.ReachedPoseSAILPolicy", + "fast_dt_factor": 1.5, + "slow_dt_factor": 1.0, + "base_control_timestep": 0.05, + "base_physics_timestep": 0.002, + "env_action_dim": 5, + "use_precision": true, + "precision_threshold": 0.5, + "precision_majority": 0.5, + "precision_mode": "per_env", + "inner": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}" + } + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "cube_sail_awe_per_env_k1.5_n50_r1", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": "logs_sail_reached", + "logs_subdir": "logs_sail_reached" + }, + "diffusion": { + "ckpt_path": "${cache_dir}/cube/sail/dp_reached/models/model_final.pt", + "train_h5_path": "${cache_dir}/cube/sail/awe/cube_reached_precision_c03.h5", + "nn": "chi_unet", + "horizon": 16, + "obs_steps": 2, + "action_steps": 8, + "action_dim": 6, + "image_size": 96, + "n_views": 2, + "crop_shape": [ + 84, + 84 + ], + "sample_steps": 50, + "use_group_norm": true, + "use_seq": true + }, + "debug": { + "decoder_checkpoint": null + }, + "plan_config": { + "horizon": 5, + "receding_horizon": 15, + "action_block": 1, + "use_past_context": true + }, + "solver": { + "inner_solver": { + "physical_dim": 5, + "n_steps": 30 + } + }, + "world": { + "env_name": "${task.env_name}", + "num_envs": "${eval.num_eval}", + "max_episode_steps": 942, + "history_size": 3, + "frame_skip": 5, + "env_type": "single", + "ob_type": "states", + "multiview": false, + "width": 224, + "height": 224, + "visualize_info": false, + "terminate_at_goal": true + }, + "dataset": { + "stats": "${task.dataset_stats}", + "keys_to_cache": [ + "action" + ] + }, + "full": true, + "eval": { + "num_eval": "${task.num_eval}", + "eval_budget": "${task.eval_budget}", + "dataset_name": 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0000000000000000000000000000000000000000..71864efa8b139bb06ad4ff17b5387817232e8f2b --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k1.5_n50_r1/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 98.0% +n_envs: 50 +run_name: cube_sail_awe_per_env_k1.5_n50_r1 +ttc_steps_mean: 176.51 +ttc_sim_time_s: 8.826 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 6.062 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.05000 (recipe nominal) +control_ts_range: [0.03333, 0.05000] (mean=0.03392) +wall_time_s: 198.6 +mean_final_dist: 0.0105 diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.json b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..340fba5cf299825b7fb948dbb1071f1eb8214c24 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.json @@ -0,0 +1,146 @@ +{ + "task": { + "task_name": "cube", + "env_name": "swm/OGBCube-v0", + "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11", + "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale", + "dataset_stats": "cube_multiview_WM", + "num_eval": 50, + "eval_budget": 628, + "goal_offset_steps": 25, + "control_timestep_s": 0.05, + "metrics": { + "_target_": "policy._metrics.CubeGTRMetrics", + "n_envs": "${task.num_eval}", + "control_timestep_s": "${task.control_timestep_s}" + } + }, + "policy": { + "_target_": "policy.sail.ReachedPoseSAILPolicy", + "fast_dt_factor": 2.0, + "slow_dt_factor": 1.0, + "base_control_timestep": 0.05, + "base_physics_timestep": 0.002, + "env_action_dim": 5, + "use_precision": true, + "precision_threshold": 0.5, + "precision_majority": 0.5, + "precision_mode": "per_env", + "inner": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}" + } + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "cube_sail_awe_per_env_k2.0_n50_r1", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": "logs_sail_reached", + "logs_subdir": "logs_sail_reached" + }, + "diffusion": { + "ckpt_path": "${cache_dir}/cube/sail/dp_reached/models/model_final.pt", + "train_h5_path": "${cache_dir}/cube/sail/awe/cube_reached_precision_c03.h5", + "nn": "chi_unet", + "horizon": 16, + "obs_steps": 2, + "action_steps": 8, + "action_dim": 6, + "image_size": 96, + "n_views": 2, + "crop_shape": [ + 84, + 84 + ], + "sample_steps": 50, + "use_group_norm": true, + "use_seq": true + }, + "debug": { + "decoder_checkpoint": null + }, + "plan_config": { + "horizon": 5, + "receding_horizon": 15, + "action_block": 1, + "use_past_context": true + }, + "solver": { + "inner_solver": { + "physical_dim": 5, + "n_steps": 30 + } + }, + "world": { + "env_name": "${task.env_name}", + "num_envs": "${eval.num_eval}", + "max_episode_steps": 1256, + "history_size": 3, + "frame_skip": 5, + "env_type": "single", + "ob_type": "states", + "multiview": false, + "width": 224, + "height": 224, + "visualize_info": false, + "terminate_at_goal": true + }, + "dataset": { + "stats": "${task.dataset_stats}", + "keys_to_cache": [ + "action" + ] + }, + "full": true, + "eval": { + "num_eval": "${task.num_eval}", + "eval_budget": "${task.eval_budget}", + "dataset_name": "${task.dataset_name}", + "goal_offset_steps": "${task.goal_offset_steps}", + "debug_video": false, + "start_offset": 5, + "save_traj": true, + "img_size": 224, + "callables": [ + { + "method": "set_state", + "args": { + "qpos": { + "value": "qpos" + }, + "qvel": { + "value": "qvel" + } + } + }, + { + "method": "set_target_pos", + "args": { + "cube_id": { + "value": 0, + "in_dataset": false + }, + "target_pos": { + "value": "goal_privileged_block_0_pos" + }, + "target_quat": { + "value": "goal_privileged_block_0_quat" + } + } + } + ] + } +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.yaml b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af639407b9ff4af854a4896148df876bcd897486 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/meta.yaml @@ -0,0 +1,105 @@ +cache_dir: ${STABLEWM_HOME} +episode_idx: +- 312 +- 393 +- 346 +- 67 +- 622 +- 772 +- 499 +- 555 +- 218 +- 355 +- 281 +- 541 +- 326 +- 53 +- 602 +- 400 +- 385 +- 600 +- 152 +- 645 +- 434 +- 640 +- 130 +- 528 +- 696 +- 712 +- 330 +- 72 +- 649 +- 717 +- 789 +- 492 +- 561 +- 351 +- 743 +- 548 +- 50 +- 581 +- 345 +- 675 +- 424 +- 177 +- 65 +- 605 +- 582 +- 141 +- 286 +- 98 +- 71 +- 652 +eval_dataset: cube_multiview_diffusion_c0.3_postpad_fullscale +start_step: +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +task: cube-mv diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.json b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.json new file mode 100644 index 0000000000000000000000000000000000000000..536006466e59539ea08f5c00043d7e1b6c50c0aa --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.json @@ -0,0 +1,540 @@ +{ + "success_rate": 1.0, + "grasped": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "no_drop": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, 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a/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.txt b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..3759d0dbb82ac2e564b559319c88cd30c9c3d90a --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.0_n50_r1/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 100.0% +n_envs: 50 +run_name: cube_sail_awe_per_env_k2.0_n50_r1 +ttc_steps_mean: 187.98 +ttc_sim_time_s: 9.399 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 4.956 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.05000 (recipe nominal) +control_ts_range: [0.02500, 0.05000] (mean=0.02565) +wall_time_s: 249.9 +mean_final_dist: 0.0065 diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/meta.json b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29f6b91d5b114b79ae3503ce139ef6d53e460109 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/meta.json @@ -0,0 +1,146 @@ +{ + "task": { + "task_name": "cube", + "env_name": "swm/OGBCube-v0", + "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11", + "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale", + "dataset_stats": "cube_multiview_WM", + "num_eval": 50, + "eval_budget": 785, + "goal_offset_steps": 25, + "control_timestep_s": 0.05, + "metrics": { + "_target_": "policy._metrics.CubeGTRMetrics", + "n_envs": "${task.num_eval}", + "control_timestep_s": "${task.control_timestep_s}" + } + }, + "policy": { + "_target_": "policy.sail.ReachedPoseSAILPolicy", + "fast_dt_factor": 2.5, + "slow_dt_factor": 1.0, + "base_control_timestep": 0.05, + "base_physics_timestep": 0.002, + "env_action_dim": 5, + "use_precision": true, + "precision_threshold": 0.5, + "precision_majority": 0.5, + "precision_mode": "per_env", + "inner": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}" + } + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "cube_sail_awe_per_env_k2.5_n50_r1", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": "logs_sail_reached", + "logs_subdir": "logs_sail_reached" + }, + "diffusion": { + "ckpt_path": "${cache_dir}/cube/sail/dp_reached/models/model_final.pt", + "train_h5_path": "${cache_dir}/cube/sail/awe/cube_reached_precision_c03.h5", + "nn": "chi_unet", + "horizon": 16, + "obs_steps": 2, + "action_steps": 8, + "action_dim": 6, + "image_size": 96, + "n_views": 2, + "crop_shape": [ + 84, + 84 + ], + "sample_steps": 50, + "use_group_norm": true, + "use_seq": true + }, + "debug": { + "decoder_checkpoint": null + }, + "plan_config": { + "horizon": 5, + "receding_horizon": 15, + "action_block": 1, + "use_past_context": true + }, + "solver": { + "inner_solver": { + "physical_dim": 5, + "n_steps": 30 + } + }, + "world": { + "env_name": "${task.env_name}", + "num_envs": "${eval.num_eval}", + "max_episode_steps": 1570, + "history_size": 3, + "frame_skip": 5, + "env_type": "single", + "ob_type": "states", + "multiview": false, + "width": 224, + "height": 224, + "visualize_info": false, + "terminate_at_goal": true + }, + "dataset": { + "stats": "${task.dataset_stats}", + "keys_to_cache": [ + "action" + ] + }, + "full": true, + "eval": { + "num_eval": "${task.num_eval}", + "eval_budget": "${task.eval_budget}", + "dataset_name": "${task.dataset_name}", + "goal_offset_steps": "${task.goal_offset_steps}", + "debug_video": false, + "start_offset": 5, + "save_traj": true, + "img_size": 224, + "callables": [ + { + "method": "set_state", + "args": { + "qpos": { + "value": "qpos" + }, + "qvel": { + "value": "qvel" + } + } + }, + { + "method": "set_target_pos", + "args": { + "cube_id": { + "value": 0, + "in_dataset": false + }, + "target_pos": { + "value": "goal_privileged_block_0_pos" + }, + "target_quat": { + "value": "goal_privileged_block_0_quat" + } + } + } + ] + } +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/results.json 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b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..28e6548421c7d4134a0979e574a5c98117979675 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/cube_sail_awe_per_env_k2.5_n50_r1/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 98.0% +n_envs: 50 +run_name: cube_sail_awe_per_env_k2.5_n50_r1 +ttc_steps_mean: 203.59 +ttc_sim_time_s: 10.180 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 4.366 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.05000 (recipe nominal) +control_ts_range: [0.02000, 0.05000] (mean=0.02067) +wall_time_s: 296.9 +mean_final_dist: 0.0111 diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/meta.json b/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ede2b4ccead62e4c7fdb1833547dcc0703007fd --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/meta.json @@ -0,0 +1,124 @@ +{ + "task": { + "task_name": "pusht", + "env_name": "swm/PushT-v1", + "dataset_name": "expert_slow_025_n200_centered_v2", + "dataset_stats": "pusht/data/pusht_expert_train", + "num_eval": 50, + "eval_budget": 978, + "control_timestep_s": 0.1, + "metrics": { + "_target_": "policy._metrics.PushTCoverageMetrics", + "n_envs": "${task.num_eval}", + "eval_budget": "${eval.eval_budget}", + "control_timestep_s": "${task.control_timestep_s}" + }, + "policy_config_group": "pusht_wm/lewm" + }, + "policy": { + "_target_": "policy.sail_pusht.ReachedPosePushTSAILPolicy", + "fast_dt_factor": 2.0, + "slow_dt_factor": 1.0, + "base_control_timestep": 0.1, + "base_physics_timestep": 0.01, + "env_action_dim": 2, + "use_precision": true, + "precision_threshold": 0.5, + "precision_majority": 0.5, + "precision_mode": "per_env", + "inner": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}" + } + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "plain_sail_awe_per_env_k2.0_n50_r1", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": "logs_sail_reached", + "logs_subdir": "logs_sail_reached" + }, + "diffusion": { + "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_reached/reached_plain_park/42/models/model_final.pt", + "train_h5_path": "${cache_dir}/pusht/sail/awe/pusht_reached_precision_park.h5", + "nn": "chi_unet", + "horizon": 16, + "obs_steps": 2, + "action_steps": 8, + "action_dim": 3, + "image_size": 96, + "n_views": 1, + "crop_shape": [ + 84, + 84 + ], + "sample_steps": 50, + "use_group_norm": true, + "use_seq": true + }, + "debug": { + "decoder_checkpoint": null + }, + "plan_config": { + "horizon": 5, + "receding_horizon": 15, + "action_block": 1, + "use_past_context": true + }, + "solver": { + "inner_solver": { + "physical_dim": 2, + "n_steps": 30 + } + }, + "world": { + "env_name": "${task.env_name}", + "num_envs": "${eval.num_eval}", + "max_episode_steps": 1956, + "history_size": 3, + "frame_skip": 1, + "resolution": 96, + "escapable_block": true + }, + "dataset": { + "stats": "${task.dataset_stats}", + "keys_to_cache": [ + "action", + "state" + ] + }, + "full": true, + "eval": { + 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a/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/results.txt b/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..c5bc17361f008d47ea81ecd0806b836971299cda --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k2.0_n50_r1/results.txt @@ -0,0 +1,11 @@ +Success rate (block-only): 76.0% +n_envs: 50 +run_name: plain_sail_awe_per_env_k2.0_n50_r1 +mean_max_coverage: 0.6730 (DP-paper test/mean_score) +mean_final_coverage: 0.5802 (end-step coverage) +ttc_steps_mean: 326.05 +ttc_sim_time_s: 32.605 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 27.894 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +control_ts_range: [0.05000, 0.10000] (mean=0.05829) +wall_time_s: 775.5 diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k3.0_n50_r1/meta.json b/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k3.0_n50_r1/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c412552fcbfe0f03a4568479a0b93b136fbd5a19 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/plain_sail_awe_per_env_k3.0_n50_r1/meta.json @@ -0,0 +1,124 @@ +{ + "task": { + "task_name": "pusht", + "env_name": "swm/PushT-v1", + "dataset_name": "expert_slow_025_n200_centered_v2", + "dataset_stats": "pusht/data/pusht_expert_train", + "num_eval": 50, + "eval_budget": 1467, + "control_timestep_s": 0.1, + "metrics": { + "_target_": "policy._metrics.PushTCoverageMetrics", + "n_envs": "${task.num_eval}", + "eval_budget": "${eval.eval_budget}", + "control_timestep_s": "${task.control_timestep_s}" + }, + "policy_config_group": "pusht_wm/lewm" + }, + "policy": { + "_target_": 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coverage) +ttc_steps_mean: 378.97 +ttc_sim_time_s: 37.897 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 31.828 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +control_ts_range: [0.03333, 0.10000] (mean=0.04548) +wall_time_s: 560.8 diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k1.5_n50_r1/meta.json b/published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k1.5_n50_r1/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29bd096e78d79c02085fd9f60357a3a451e52f24 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k1.5_n50_r1/meta.json @@ -0,0 +1,125 @@ +{ + "task": { + "task_name": "pusht", + "env_name": "swm/PushT-v1", + "dataset_name": "expert_slow_025_n200_centered_v2", + "dataset_stats": "pusht/data/pusht_expert_train", + "num_eval": 50, + "eval_budget": 891, + "control_timestep_s": 0.1, + "metrics": { + "_target_": "policy._metrics.PushTCoverageMetrics", + "n_envs": "${task.num_eval}", + "eval_budget": "${eval.eval_budget}", + "control_timestep_s": "${task.control_timestep_s}" + }, + "policy_config_group": "slippery_pusht/lewm" + }, + "policy": { + "_target_": "policy.sail_pusht.ReachedPosePushTSAILPolicy", + "fast_dt_factor": 1.5, + "slow_dt_factor": 1.0, + "base_control_timestep": 0.1, + "base_physics_timestep": 0.01, + "env_action_dim": 2, + "use_precision": true, + "precision_threshold": 0.5, + "precision_majority": 0.5, + "precision_mode": "per_env", + "inner": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", 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"control_ts_realised_mean": 0.039478488589599695 +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k3.0_n50_r1/results.txt b/published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k3.0_n50_r1/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d97d87d350e1f3919bcbc61e2b012d382faaa15 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_reached/slippery_sail_awe_per_env_k3.0_n50_r1/results.txt @@ -0,0 +1,11 @@ +Success rate (block-only): 50.0% +n_envs: 50 +run_name: slippery_sail_awe_per_env_k3.0_n50_r1 +mean_max_coverage: 0.5529 (DP-paper test/mean_score) +mean_final_coverage: 0.3012 (end-step coverage) +ttc_steps_mean: 450.48 +ttc_sim_time_s: 45.048 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 42.341 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +control_ts_range: [0.03333, 0.10000] (mean=0.03948) +wall_time_s: 682.1 diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.json b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d03cf66d7259e41b7977f56030019cdeea2ed3bc --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.json @@ -0,0 +1,134 @@ +{ + "task": { + "task_name": "cube", + "env_name": "swm/OGBCube-v0", + "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11", + "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale", + "dataset_stats": "cube_multiview_WM", + "num_eval": 50, + "eval_budget": null, + "goal_offset_steps": 25, + "control_timestep_s": 0.05, + "metrics": { + "_target_": "policy._metrics.CubeGTRMetrics", + "n_envs": "${task.num_eval}", + "control_timestep_s": "${task.control_timestep_s}" + } + }, + "policy": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}" + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "cube_dp_savetraj_n50", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": "cube_dp_v2", + "logs_subdir": "logs_sail_savetraj" + }, + "diffusion": { + "ckpt_path": "${cache_dir}/cube/dp/models/model_90000.pt", + "train_h5_path": "${cache_dir}/datasets/cube_multiview_diffusion_c0.3_postpad_fullscale.h5", + "nn": "chi_unet", + "horizon": 16, + "obs_steps": 2, + "action_steps": 8, + "action_dim": 5, + "image_size": 96, + "n_views": 2, + "crop_shape": [ + 84, + 84 + ], + "sample_steps": 50, + "use_group_norm": true, + "use_seq": true + }, + "debug": { + "decoder_checkpoint": null + }, + "plan_config": { + "horizon": 5, + "receding_horizon": 15, + "action_block": 1, + "use_past_context": true + }, + "solver": { + "inner_solver": { + "physical_dim": 5, + "n_steps": 30 + } + }, + "world": { + "env_name": "${task.env_name}", + "num_envs": "${eval.num_eval}", + "max_episode_steps": 628, + "history_size": 3, + "frame_skip": 5, + "env_type": "single", + "ob_type": "states", + "multiview": false, + "width": 224, + "height": 224, + "visualize_info": false, + "terminate_at_goal": true + }, + "dataset": { + "stats": "${task.dataset_stats}", + "keys_to_cache": [ + "action" + ] + }, + "full": true, + "eval": { + "num_eval": "${task.num_eval}", + "eval_budget": "${task.eval_budget}", + "dataset_name": "${task.dataset_name}", + "goal_offset_steps": "${task.goal_offset_steps}", + "debug_video": false, + "start_offset": 5, + "img_size": 224, + "callables": [ + { + "method": "set_state", + "args": { + "qpos": { + "value": "qpos" + }, + "qvel": { + "value": "qvel" + } + } + }, + { + "method": "set_target_pos", + "args": { + "cube_id": { + "value": 0, + "in_dataset": false + }, + "target_pos": { + "value": "goal_privileged_target_block_pos" + }, + "target_quat": { + "value": "goal_privileged_block_0_quat" + } + } + } + ], + "save_traj": true + } +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.yaml b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af639407b9ff4af854a4896148df876bcd897486 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/meta.yaml @@ -0,0 +1,105 @@ +cache_dir: ${STABLEWM_HOME} +episode_idx: +- 312 +- 393 +- 346 +- 67 +- 622 +- 772 +- 499 +- 555 +- 218 +- 355 +- 281 +- 541 +- 326 +- 53 +- 602 +- 400 +- 385 +- 600 +- 152 +- 645 +- 434 +- 640 +- 130 +- 528 +- 696 +- 712 +- 330 +- 72 +- 649 +- 717 +- 789 +- 492 +- 561 +- 351 +- 743 +- 548 +- 50 +- 581 +- 345 +- 675 +- 424 +- 177 +- 65 +- 605 +- 582 +- 141 +- 286 +- 98 +- 71 +- 652 +eval_dataset: cube_multiview_diffusion_c0.3_postpad_fullscale +start_step: +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +task: cube-mv diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.json b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.json new file mode 100644 index 0000000000000000000000000000000000000000..7a34bc796e5a48189a5ad2369be21ca05bcdb53f --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.json @@ -0,0 +1,329 @@ +{ + "success_rate": 0.96, + "grasped": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "no_drop": [ + true, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "reached_goal": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "success_full": [ + true, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "mean_final_dist": 0.00943928836688927, + "final_dist": [ 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"success_rate_strict": 0.96, + "success_rate_loose": 1.0 +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.txt b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..352c23d6926a6ea29f25a4f90f90d9e8adb51a13 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sail_savetraj/cube_dp_savetraj_n50/results.txt @@ -0,0 +1,9 @@ +Success rate (block-only): 96.0% +n_envs: 50 +run_name: cube_dp_savetraj_n50 +ttc_steps_mean: 141.79 +ttc_sim_time_s: 7.090 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 7.140 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.05000 (recipe nominal) +wall_time_s: 156.5 +mean_final_dist: 0.0094 diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.json b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d0a962477070fd8be3d62c8c67ee99f23840ab --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.json @@ -0,0 +1,155 @@ +{ + "task": { + "task_name": "cube", + "env_name": "swm/OGBCube-v0", + "policy_config_group": "cube_wm/lewm_pv_aw_cube_scratch_epoch_11", + "dataset_name": "cube_multiview_diffusion_c0.3_postpad_fullscale", + "dataset_stats": "cube_multiview_WM", + "num_eval": 50, + "eval_budget": null, + "goal_offset_steps": 25, + "control_timestep_s": 0.05, + "metrics": { + "_target_": "policy._metrics.CubeGTRMetrics", + "n_envs": "${task.num_eval}", + "control_timestep_s": "${task.control_timestep_s}" + } + }, + "policy": { + "_target_": "policy.sup_gated.SuPGatedDPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}", + "sup": { + "enabled": true, + "k_values": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "fixed_k": 1, + "score_mode": "state_adm_iql", + "eps": 0.2617, + "downsample_mode": "accumulate", + "gripper_dim": -1, + "sat_limit": 1.0, + "log_decisions": true, + "channel": "full", + "adm_path": "${cache_dir}/cube/sup/adm_B.pt", + "iql_path": "${cache_dir}/cube/sup/iqlak_full_park_paper.pt" + } + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "cube_sup_paperhp", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": "logs_sh_repro_wallsoff", + "logs_subdir": "logs_sh_repro_wallsoff" + }, + "diffusion": { + "ckpt_path": "${cache_dir}/cube/dp/models/model_90000.pt", + "train_h5_path": "${cache_dir}/datasets/cube_multiview_diffusion_c0.3_postpad_fullscale.h5", + "nn": "chi_unet", + "horizon": 16, + "obs_steps": 2, + "action_steps": 8, + "action_dim": 5, + "image_size": 96, + "n_views": 2, + "crop_shape": [ + 84, + 84 + ], + "sample_steps": 50, + "use_group_norm": true, + "use_seq": true + }, + "debug": { + "decoder_checkpoint": null + }, + "plan_config": { + "horizon": 5, + "receding_horizon": 15, + "action_block": 1, + "use_past_context": true + }, + "solver": { + "inner_solver": { + "physical_dim": 5, + "n_steps": 30 + } + }, + "world": { + "env_name": "${task.env_name}", + "num_envs": "${eval.num_eval}", + "max_episode_steps": 628, + "history_size": 3, + "frame_skip": 5, + "env_type": "single", + "ob_type": "states", + "multiview": false, + "width": 224, + "height": 224, + "visualize_info": false, + "terminate_at_goal": true + }, + "dataset": { + "stats": "${task.dataset_stats}", + "keys_to_cache": [ + "action" + ] + }, + "full": true, + "eval": { + "num_eval": "${task.num_eval}", + "eval_budget": "${task.eval_budget}", + "dataset_name": "${task.dataset_name}", + "goal_offset_steps": "${task.goal_offset_steps}", + "debug_video": false, + "start_offset": 5, + "img_size": 224, + "save_traj": true, + "callables": [ + { + "method": "set_state", + "args": { + "qpos": { + "value": "qpos" + }, + "qvel": { + "value": "qvel" + } + } + }, + { + "method": "set_target_pos", + "args": { + "cube_id": { + "value": 0, + "in_dataset": false + }, + "target_pos": { + "value": "goal_privileged_target_block_pos" + }, + "target_quat": { + "value": "goal_privileged_block_0_quat" + } + } + } + ] + } +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.yaml b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af639407b9ff4af854a4896148df876bcd897486 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/meta.yaml @@ -0,0 +1,105 @@ +cache_dir: ${STABLEWM_HOME} +episode_idx: +- 312 +- 393 +- 346 +- 67 +- 622 +- 772 +- 499 +- 555 +- 218 +- 355 +- 281 +- 541 +- 326 +- 53 +- 602 +- 400 +- 385 +- 600 +- 152 +- 645 +- 434 +- 640 +- 130 +- 528 +- 696 +- 712 +- 330 +- 72 +- 649 +- 717 +- 789 +- 492 +- 561 +- 351 +- 743 +- 548 +- 50 +- 581 +- 345 +- 675 +- 424 +- 177 +- 65 +- 605 +- 582 +- 141 +- 286 +- 98 +- 71 +- 652 +eval_dataset: cube_multiview_diffusion_c0.3_postpad_fullscale +start_step: +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +- 5 +task: cube-mv diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.json b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.json new file mode 100644 index 0000000000000000000000000000000000000000..2beccf856da693472b94e3653acc189278d5f694 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.json @@ -0,0 +1,540 @@ +{ + "success_rate": 0.98, + "grasped": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + true, + true, + true + ], + "no_drop": [ + true, 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a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.txt b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..df0cc27148f5e78f80b180bbca8d7ae64747bc0c --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/results.txt @@ -0,0 +1,9 @@ +Success rate (block-only): 98.0% +n_envs: 50 +run_name: cube_sup_paperhp +ttc_steps_mean: 63.22 +ttc_sim_time_s: 3.161 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 3.211 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.05000 (recipe nominal) +wall_time_s: 313.3 +mean_final_dist: 0.0363 diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/sup_decisions.jsonl b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/cube_sup_paperhp/sup_decisions.jsonl new file mode 100644 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0.86, + "held_k": 10, + "wall_time_s": 182.11969423294067, + "ttc_sim_time_actual_mean_s": 25.2040000000001, + "ttc_sim_time_actual_std_s": 11.689122464924536, + "control_ts_min": 0.1, + "control_ts_max": 0.1, + "control_ts_mean": 0.1, + "sim_time_total_s": 48.900000000000425 +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_dp_wallsoff/results.txt b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_dp_wallsoff/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..60aedea450aba3e57abb8522fcfa366b9adfc634 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_dp_wallsoff/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 88.0% +n_envs: 50 +run_name: pusht_dp_wallsoff +mean_max_coverage: 0.7840 (DP-paper test/mean_score) +mean_final_coverage: 0.7395 (end-step coverage) +ttc_steps_mean: 218.73 +ttc_sim_time_s: 21.873 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 25.204 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +wall_time_s: 182.1 diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/meta.json b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1938be82963be0b92d1504475e477054c5979604 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/meta.json @@ -0,0 +1,115 @@ +{ + "task": { + "task_name": "pusht", + "env_name": "swm/PushT-v1", + "dataset_name": "expert_slow_025_n200_centered_v2", + "dataset_stats": "pusht/data/pusht_expert_train", + "num_eval": 50, + "eval_budget": 489, + "control_timestep_s": 0.1, + "metrics": { + "_target_": "policy._metrics.PushTCoverageMetrics", + "n_envs": "${task.num_eval}", + "eval_budget": "${eval.eval_budget}", + "control_timestep_s": "${task.control_timestep_s}" + }, + "policy_config_group": "pusht_wm/lewm" + }, + "policy": { + "_target_": "policy.skip.PushTSkipPolicy", + "inner": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}" + } + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "pusht_skip_wallsoff", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": "pusht_skip", + "logs_subdir": "logs_sh_repro_wallsoff" + }, + "diffusion": { + "ckpt_path": "${STABLEWM_HOME}/latents/dp_pusht_sv_image_skip/pusht_sv_skip_chi_unet_ddpm_step50_h16_20260725_060205/42/models/model_final.pt", + "train_h5_path": "${STABLEWM_HOME}/datasets/expert_slow_025_n200_centered_v2_park.h5", + "nn": "chi_unet", + "horizon": 16, + "obs_steps": 2, + "action_steps": 8, + "action_dim": 2, + "image_size": 96, + "n_views": 1, + "crop_shape": [ + 84, + 84 + ], + "sample_steps": 50, + "use_group_norm": true, + "use_seq": true + }, + "debug": { + "decoder_checkpoint": null + }, + "plan_config": { + "horizon": 5, + "receding_horizon": 15, + "action_block": 1, + "use_past_context": true + }, + "solver": { + "inner_solver": { + "physical_dim": 2, + "n_steps": 30 + } + }, + "world": { + "env_name": "${task.env_name}", + "num_envs": "${eval.num_eval}", + "max_episode_steps": 978, + "history_size": 3, + "frame_skip": 1, + "resolution": 96, + "escapable_block": true + }, + "dataset": { + "stats": 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"ttc_sim_time_actual_mean_s": 29.650000000000173, + "ttc_sim_time_actual_std_s": 16.768103649489014, + "control_ts_min": 0.1, + "control_ts_max": 0.1, + "control_ts_mean": 0.1, + "sim_time_total_s": 48.900000000000425 +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/results.txt b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee2834ef59b0910d31a225a101b7bc2ca4e2ba89 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_skip_wallsoff/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 64.0% +n_envs: 50 +run_name: pusht_skip_wallsoff +mean_max_coverage: 0.5973 (DP-paper test/mean_score) +mean_final_coverage: 0.5476 (end-step coverage) +ttc_steps_mean: 187.22 +ttc_sim_time_s: 18.722 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 29.650 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +wall_time_s: 181.8 diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_sup_paperhp/meta.json b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_sup_paperhp/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..155362f686dc088187849bf1782c40409a24368f --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/pusht_sup_paperhp/meta.json @@ -0,0 +1,133 @@ +{ + "task": { + "task_name": "pusht", + "env_name": "swm/PushT-v1", + "dataset_name": "expert_slow_025_n200_centered_v2", + "dataset_stats": "pusht/data/pusht_expert_train", + "num_eval": 50, + "eval_budget": 489, + "control_timestep_s": 0.1, + "metrics": { + "_target_": "policy._metrics.PushTCoverageMetrics", + "n_envs": "${task.num_eval}", + "eval_budget": "${eval.eval_budget}", + "control_timestep_s": "${task.control_timestep_s}" + }, + "policy_config_group": 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220.69320821762085, + "ttc_sim_time_actual_mean_s": 33.74600000000022, + "ttc_sim_time_actual_std_s": 18.472706461155305, + "control_ts_min": 0.1, + "control_ts_max": 0.1, + "control_ts_mean": 0.09999999999999999, + "sim_time_total_s": 59.400000000000574 +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_dp_wallsoff/results.txt b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_dp_wallsoff/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..386d07225697121a07507497a67ef2b6c8542493 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_dp_wallsoff/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 72.0% +n_envs: 50 +run_name: slippery_pusht_dp_wallsoff +mean_max_coverage: 0.6902 (DP-paper test/mean_score) +mean_final_coverage: 0.6100 (end-step coverage) +ttc_steps_mean: 236.69 +ttc_sim_time_s: 23.669 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 33.746 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +wall_time_s: 220.7 diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/meta.json b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecf7a6ce166a0827a34752687eef3ac36a6c0fa5 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/meta.json @@ -0,0 +1,116 @@ +{ + "task": { + "task_name": "pusht", + "env_name": "swm/PushT-v1", + "dataset_name": "expert_slow_025_n200_centered_v2", + "dataset_stats": "pusht/data/pusht_expert_train", + "num_eval": 50, + "eval_budget": 594, + "control_timestep_s": 0.1, + "metrics": { + "_target_": "policy._metrics.PushTCoverageMetrics", + "n_envs": "${task.num_eval}", + "eval_budget": "${eval.eval_budget}", + "control_timestep_s": "${task.control_timestep_s}" + }, + "policy_config_group": "slippery_pusht/lewm" + }, + "policy": { + "_target_": "policy.skip.PushTSkipPolicy", + "inner": { + "_target_": "policy.dp.DPPolicy", + "ckpt_path": "${diffusion.ckpt_path}", + "train_h5_path": "${diffusion.train_h5_path}", + "action_dim": "${diffusion.action_dim}", + "action_horizon": "${diffusion.horizon}", + "action_steps": "${diffusion.action_steps}", + "obs_steps": "${diffusion.obs_steps}", + "image_size": "${diffusion.image_size}", + "n_views": "${diffusion.n_views}", + "crop_shape": "${diffusion.crop_shape}", + "sample_steps": "${diffusion.sample_steps}", + "use_group_norm": "${diffusion.use_group_norm}", + "use_seq": "${diffusion.use_seq}", + "nn": "${diffusion.nn}" + } + }, + "seed": 42, + "cache_dir": "${oc.env:STABLEWM_HOME}", + "output": { + "run_name": "slippery_pusht_skip_wallsoff", + "findings_dir": "findings/260521_baseline_setup", + "logdir_subkey": 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+ "ttc_sim_time_actual_std_s": 19.750588953244154, + "control_ts_min": 0.1, + "control_ts_max": 0.1, + "control_ts_mean": 0.09999999999999999, + "sim_time_total_s": 59.400000000000574 +} diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/results.txt b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..301c323ced196b0191c0e1d239a5397523b61bc7 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_pusht_skip_wallsoff/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 32.0% +n_envs: 50 +run_name: slippery_pusht_skip_wallsoff +mean_max_coverage: 0.4301 (DP-paper test/mean_score) +mean_final_coverage: 0.1727 (end-step coverage) +ttc_steps_mean: 186.94 +ttc_sim_time_s: 18.694 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 46.406 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +wall_time_s: 217.1 diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/meta.json b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c57f59298004e78fa0ba289f245047d48a222b --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/meta.json @@ -0,0 +1,134 @@ +{ + "task": { + "task_name": "pusht", + "env_name": "swm/PushT-v1", + "dataset_name": "expert_slow_025_n200_centered_v2", + "dataset_stats": "pusht/data/pusht_expert_train", + "num_eval": 50, + "eval_budget": 594, + "control_timestep_s": 0.1, + "metrics": { + "_target_": "policy._metrics.PushTCoverageMetrics", + "n_envs": "${task.num_eval}", + "eval_budget": "${eval.eval_budget}", + "control_timestep_s": "${task.control_timestep_s}" + }, + 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b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..3c2a537381423c2d4a2b445abef7c70c31efb9a9 --- /dev/null +++ b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/results.txt @@ -0,0 +1,10 @@ +Success rate (block-only): 74.0% +n_envs: 50 +run_name: slippery_sup_paperhp_rel +mean_max_coverage: 0.7380 (DP-paper test/mean_score) +mean_final_coverage: 0.3627 (end-step coverage) +ttc_steps_mean: 132.84 +ttc_sim_time_s: 13.284 (legacy: steps × recipe-dt) +ttc_sim_time_actual_s: 25.348 (cumulative env dt — fair for SAIL) +control_timestep_s: 0.10000 (recipe nominal) +wall_time_s: 574.3 diff --git a/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/sup_decisions.jsonl b/published_runs/findings/260521_baseline_setup/logs_sh_repro_wallsoff/slippery_sup_paperhp_rel/sup_decisions.jsonl 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