diff --git a/.gitattributes b/.gitattributes index 70c156cb43e37c8210ed84d7b59f24c447d21b05..ba1e20cb344611f0fbd952b7f356c75e2a447389 100644 --- a/.gitattributes +++ b/.gitattributes @@ -63,3 +63,4 @@ can/mhf_densev1/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text square/mhf_densev1/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text square/mhf2_densev1/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text lift/mhf_densev1_ntrajs=1020/dataset.hdf5 filter=lfs diff=lfs merge=lfs -text +policies/robomimic-ph-visual-only/can/initial_conditions_ph50.hdf5 filter=lfs diff=lfs merge=lfs -text diff --git a/policies/robomimic-ph-visual-only/README.md b/policies/robomimic-ph-visual-only/README.md new file mode 100644 index 0000000000000000000000000000000000000000..4abe36bfa1d826fb53f452807cad3925c43175f7 --- /dev/null +++ b/policies/robomimic-ph-visual-only/README.md @@ -0,0 +1,268 @@ +# RoboMimic PH visual-only policy bundle + +_Can, Lift, and Square visual diffusion-policy checkpoints with paired PH50 simulator rollouts and initial observations._ + +--- + +This directory is the local upload source for the +`policies/robomimic-ph-visual-only/` subtree of the +`infope/robomimic` Hugging Face dataset repository. It contains 10 selected +checkpoints per task, 50 paired simulator rollouts per checkpoint, three +VLM-judge cohorts per task, and one self-describing PH50 initial-condition HDF5 +file per task. + +> **Publication identity:** Pin the exact Hugging Face commit or immutable tag +> when downloading this subtree. Rollout integrity is recorded beside each +> rollout, while checkpoint and PH50 provenance is recorded in the task HDF5. +> +> VLM-judge manifests intentionally retain producing-workspace source locators +> as informational provenance. Consumers must use the adjacent encoded videos +> and their hashes; those source locator strings are not relocation inputs. + +## 📦 File tree + +`` is one of `can`, `lift`, or `square`. `` is the complete +checkpoint stem, and `` is one of the 50 ordered PH50 +episode IDs such as `demo_105`. + +```text +publish_ready/ +├── README.md +├── can/ +│ ├── config.json # Published task-level configuration +│ ├── initial_conditions_ph50.hdf5 # Ordered PH50 states and two-view reset observations +│ ├── checkpoints/ +│ │ └── .pth # Exactly 10 selected checkpoints, name convention model_epoch_successrate_n50_tmax500_tmin_tavg +│ └── rollouts/ +│ ├── / # Exactly 10 primary policy directories +│ │ └── / # Exactly 50 paired PH50 leaves per policy +│ │ ├── artifact_manifest.json +│ │ ├── rollout.mp4 +│ │ ├── trajectory.h5 +│ │ └── trajectory.json +│ ├── vlm_judge_policy10_ic50_s25_f25_fixed10_seed0/ +│ │ ├── manifest.json +│ │ ├── fail/ # 25 labeled MP4 clips +│ │ └── success/ # 25 labeled MP4 clips +│ ├── vlm_judge_policy10_ic50_s25_f25_original20fps_seed0/ +│ └── vlm_judge_policy10_ic50_s25_f25_cap200_uniform10_seed0/ +├── lift/ # Same task-level contract as Can +└── square/ # Same task-level contract as Can +``` + +Checkpoint and rollout directory names encode the evaluated PH50 result: + +```text +model_epoch_successrate_n50_tmax500_tmin_tavg +``` + +The directory inventory is authoritative for the individual policy names; this +README does not duplicate the 30-name checkpoint table. + +`config.json` is retained as useful task-level configuration. The exact +training-config SHA-256 for each checkpoint is recorded separately in +`initial_conditions_ph50.hdf5:/provenance/published_checkpoints`; checkpoints +from continuation branches can therefore reference a different configuration +digest than the adjacent task-level copy. + +### Primary rollout leaf + +| File | Contents | +| --- | --- | +| `artifact_manifest.json` | Leaf completion flag, file sizes, SHA-256 digests, and video metadata | +| `trajectory.json` | Full rollout identity, checkpoint provenance, initial-condition state and model XML, simulator outcome, timing, and observation contract | +| `trajectory.h5` | Post-action arrays: `actions`, `rewards`, `states`, `success_simulator`, and `valid_mask` | +| `rollout.mp4` | Post-action 384×384 `agentview` and wrist-camera frames concatenated horizontally at 20 FPS | + +`trajectory.h5` does not contain RGB observations. Its `states[0]` is the first +post-action successor state, not the pre-action reset state. Use +`initial_conditions_ph50.hdf5` for value-function queries at $o_0$. + +## 💾 PH50 initial-condition HDF5 + +Each task's `initial_conditions_ph50.hdf5` has schema version +`robomimic_ph50_initial_conditions/v1`. The PH50 cohort is selected by applying +NumPy's seed-0 permutation without replacement to the numerically ordered pool +`demo_0` through `demo_199`, then taking the first 50 episode starts. + +These 50 episodes are members of the same unfiltered 200-demonstration PH +dataset used to train every published checkpoint for that task. PH50 is a +paired evaluation cohort, not a held-out initial-condition split. + +### Object and attribute tree + +```text +initial_conditions_ph50.hdf5 +├── attrs +│ ├── schema_version +│ ├── description +│ ├── task +│ ├── condition_count +│ ├── selection_rule +│ ├── selection_seed +│ ├── selection_pool_order +│ ├── source_timestep +│ ├── source_dataset_path +│ ├── source_dataset_sha256 +│ ├── source_dataset_size_bytes +│ ├── source_dataset_episode_count +│ ├── source_dataset_training_relation +│ ├── rgb_keys_json +│ ├── rgb_layout +│ ├── rgb_dtype +│ ├── rgb_value_range +│ ├── training_image_resolution +│ ├── policy_evaluation_render_resolution +│ ├── views_384x384_semantics +│ ├── views_84x84_semantics +│ ├── resize_function +│ ├── resize_contract +│ ├── observation_horizon +│ ├── initial_history_padding +│ ├── rollout_validation_scope +│ └── rollout_state_timing +├── condition_ids # [50] ordered UTF-8 strings +├── provenance/ +│ ├── attrs +│ │ ├── training_manifest_sha256 +│ │ ├── ph_selection_manifest_sha256 +│ │ ├── initial_conditions_manifest_sha256 +│ │ ├── reset_views_384x384_sha256 +│ │ ├── source_dataset_manifest_sha256 +│ │ ├── published_checkpoint_count +│ │ └── validated_rollout_leaf_count +│ └── published_checkpoints/ +│ ├── policy_id # [10] UTF-8 strings +│ ├── filename # [10] UTF-8 strings +│ ├── checkpoint_sha256 # [10] UTF-8 strings +│ └── training_config_sha256 # [10] UTF-8 strings +└── conditions/ + └── / + ├── attrs + │ ├── ordered_index + │ ├── source_episode_id + │ ├── source_timestep + │ ├── source_state_sha256 + │ └── model_xml_sha256 + ├── simulator_state # [D_sim] float64; D_sim depends on task + ├── views_384x384/ + │ ├── agentview_image # [384, 384, 3] uint8 HWC; attr: sha256 + │ └── robot0_eye_in_hand_image # [384, 384, 3] uint8 HWC; attr: sha256 + └── views_84x84/ + ├── agentview_image # [84, 84, 3] uint8 HWC + └── robot0_eye_in_hand_image # [84, 84, 3] uint8 HWC + attrs on each 84x84 dataset: + ├── sha256 + ├── source_ph_native_84x84_sha256 + └── equals_source_ph_native_84x84 +``` + +The task-specific simulator-state widths are 32 for Lift, 71 for Can, and 45 +for Square. `condition_ids` supplies the authoritative PH50 order; HDF5 group +iteration order must not be used as the cohort order. + +### Root attribute semantics + +| Attribute group | Attributes | Meaning | +| --- | --- | --- | +| Schema and task | `schema_version`, `description`, `task`, `condition_count` | Identifies the artifact contract and its task-specific 50-condition payload | +| Cohort selection | `selection_rule`, `selection_seed`, `selection_pool_order`, `source_timestep` | Reconstructs the ordered 50-of-200 episode-start selection | +| Source dataset | `source_dataset_path`, `source_dataset_sha256`, `source_dataset_size_bytes`, `source_dataset_episode_count`, `source_dataset_training_relation` | Binds PH50 to the exact PH training dataset and states that the cohort is not held out | +| RGB representation | `rgb_keys_json`, `rgb_layout`, `rgb_dtype`, `rgb_value_range` | Declares two ordered HWC `uint8` views in `[0,255]` | +| Resolution spaces | `training_image_resolution`, `policy_evaluation_render_resolution`, `views_384x384_semantics`, `views_84x84_semantics` | Distinguishes native training images, exact reset renders, and policy-aligned resized views | +| Resize transform | `resize_function`, `resize_contract` | Names the evaluator-owned bilinear resize with `align_corners=False`, rounding, clamping, and `uint8` conversion | +| Initial history | `observation_horizon`, `initial_history_padding` | Declares two-frame policy history with the first observation repeated at $t=0$ | +| Rollout relationship | `rollout_validation_scope`, `rollout_state_timing` | Records validation coverage and explains why rollout `states[0]` is not the stored reset state | + +### View semantics + +The 384×384 datasets are lossless pre-action renders captured after restoring +the exact simulator state. The 84×84 datasets are derived from those reset +renders with the same evaluator path used for policy feedback: + +```text +384x384 uint8 HWC + -> bilinear resize with align_corners=False + -> round + -> clamp to [0,255] + -> uint8 84x84 HWC +``` + +The source PH datasets also contain native 84×84 renders used during training. +Those native images and the resized PH50 views represent the same named cameras +and reset conditions but are not assumed to be pixel-identical. Each 84×84 +dataset therefore stores both its own `sha256` and the corresponding native +training-image digest, plus the explicit equality flag. + +## 🔍 Minimal reader example + +```python +from pathlib import Path + +import h5py +import numpy as np + + +path = Path("lift/initial_conditions_ph50.hdf5") +with h5py.File(path, "r") as hdf5: + condition_ids = hdf5["condition_ids"].asstr()[...] + condition_id = condition_ids[0] + + agentview = hdf5[ + f"conditions/{condition_id}/views_84x84/agentview_image" + ][...] + wrist = hdf5[ + f"conditions/{condition_id}/views_84x84/robot0_eye_in_hand_image" + ][...] + + # The policy's initial two-frame history repeats the reset observation. + agentview_history = np.stack([agentview, agentview], axis=0) + wrist_history = np.stack([wrist, wrist], axis=0) +``` + +The stored arrays are raw observations. A value-function implementation remains +responsible for its declared channel layout, batching, and normalization. For +initial-state model-free OPE over this paired cohort, the intended reduction is +$\widehat J(\pi)=\frac{1}{50}\sum_{i=1}^{50}\widehat V^\pi(o_{0,i})$. + +## ✅ Validation boundary + +The HDF5 producer validated, for each task: + +- Exactly 50 ordered conditions selected from the exact 200-demo training dataset +- Exactly 10 published checkpoint identities and content hashes +- Exactly 500 primary rollout leaves, for 1,500 leaves across all three tasks +- Exact initial simulator states, model XML hashes, reset-view hashes, shapes, dtypes, and resize outputs +- `trajectory.h5` identity metadata and its sibling manifest and trajectory JSON hashes + +This validation establishes artifact consistency. It does not make PH50 an +independent test split, fit a visual value function, or establish scientific +OPE accuracy. + +Integrity metadata is intentionally local to the artifact it describes: + +- Each primary rollout leaf has an `artifact_manifest.json` covering its video, + trajectory JSON, and trajectory HDF5. +- Each VLM-judge cohort has a `manifest.json` covering its selected cases and + adjacent encoded videos. +- Each `initial_conditions_ph50.hdf5` records the ordered PH50 cohort, + checkpoint hashes, training-config hashes, source-dataset identity, and view + hashes. +- The immutable Hugging Face commit or tag supplies the identity of the complete + downloaded subtree. + +## 🔗 Publication runbook + +The repository-side publication procedure is maintained at: + +```text +docs/0819-regularize_mf_v_mb_datasets/ + 06_publish_ready_ph_visual_policy_bundle/ + 06a_publish_ph_visual_policy_bundle_to_huggingface.md +``` + +Publish through a Hugging Face pull request. Before merge, download only this +subtree from the pull-request revision and recheck the expected task, +checkpoint, rollout-leaf, and VLM-cohort counts together with the adjacent +manifest and HDF5 hashes. Record the exact merged commit and immutable release +tag for coworker downloads. diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth new file mode 100644 index 0000000000000000000000000000000000000000..f8705839d794eeb603a48d53a8a99643d98a1d16 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a +size 730608877 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth new file mode 100644 index 0000000000000000000000000000000000000000..87245ba03614d0e14cc7432e75c869386a91dbb3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319 +size 730608877 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch22_successrate0.2200_n50_tmax500_tmin107_tavg423.26.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch22_successrate0.2200_n50_tmax500_tmin107_tavg423.26.pth new file mode 100644 index 0000000000000000000000000000000000000000..6e03df55bb6f156f11f4b5ebb5696a12f71a59ec --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch22_successrate0.2200_n50_tmax500_tmin107_tavg423.26.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c46bf0465ca6efa2d490d519da1783c84ece0f4ee18e6a716a44838e7bc78c3d +size 730608813 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46.pth new file mode 100644 index 0000000000000000000000000000000000000000..1fdca6ea1716b1cc6e1669ddfeebbbb6bc2a0c1f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch25_successrate0.3000_n50_tmax500_tmin100_tavg397.46.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08250c1a962b2656bb4d8e2f3ecd785cf0a46485769a8987b647cf182ba7e5a7 +size 730608813 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98.pth new file mode 100644 index 0000000000000000000000000000000000000000..d8d7b3ec2409e7e698ad7c1e1699b35da23a2ab0 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch30_successrate0.3800_n50_tmax500_tmin95_tavg358.98.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e3f70f7828377708bf15b54e698964e7210f9668e678df03508eb07eca600ea +size 730608813 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86.pth new file mode 100644 index 0000000000000000000000000000000000000000..cf03f25bf88c85e974fa3380f93103873e35bd97 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch30_successrate0.4600_n50_tmax500_tmin96_tavg326.86.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:441c0cebcf2ad0c21f0eb2728e832e275083caf8483ef1ca377cc7c320fc0df6 +size 730608877 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch35_successrate0.6000_n50_tmax500_tmin97_tavg274.84.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch35_successrate0.6000_n50_tmax500_tmin97_tavg274.84.pth new file mode 100644 index 0000000000000000000000000000000000000000..e73b4a38bbc512d23666b325708f8c4b4b529e0d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch35_successrate0.6000_n50_tmax500_tmin97_tavg274.84.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:418423cf0e00d97760cebddb0c5af4af79cec5f506c98b72eacaa226340d1e0f +size 730608813 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch40_successrate0.7400_n50_tmax500_tmin90_tavg229.86.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch40_successrate0.7400_n50_tmax500_tmin90_tavg229.86.pth new file mode 100644 index 0000000000000000000000000000000000000000..9f6863be05bbeaa04e2c06eb209d4df509a5e367 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch40_successrate0.7400_n50_tmax500_tmin90_tavg229.86.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a5652def190ecdc167f57d3786a0940928271e4b260c78e0ce8aa217df49101 +size 730608813 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch500_successrate0.9800_n50_tmax500_tmin86_tavg128.36.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch500_successrate0.9800_n50_tmax500_tmin86_tavg128.36.pth new file mode 100644 index 0000000000000000000000000000000000000000..e1d1bd7a0a49096374d5cece90c30afab375954c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch500_successrate0.9800_n50_tmax500_tmin86_tavg128.36.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:346a78d65366110e003677dd407c2eb86faa200354b5b6d7dff92b03d810d150 +size 730609447 diff --git a/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch50_successrate0.8400_n50_tmax500_tmin95_tavg176.44.pth b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch50_successrate0.8400_n50_tmax500_tmin95_tavg176.44.pth new file mode 100644 index 0000000000000000000000000000000000000000..b8ac39b4aae1998828c2cde0607f8252cd5dbf4f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/checkpoints/model_epoch50_successrate0.8400_n50_tmax500_tmin95_tavg176.44.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c76afec7c396d4ad23b499c842264dad4f192c9219bcd52fcfbe20727889129 +size 730608877 diff --git a/policies/robomimic-ph-visual-only/can/config.json b/policies/robomimic-ph-visual-only/can/config.json new file mode 100644 index 0000000000000000000000000000000000000000..362e724d39e7a6c91133ea8437a5ab3614152bbb --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/config.json @@ -0,0 +1,226 @@ +{ + "algo_name": "diffusion_policy", + "experiment": { + "name": "diffusion_policy_can_ph_visual_only_independent_encoder", + "validate": false, + "logging": { + "terminal_output_to_txt": true, + "log_tb": false, + "log_wandb": true, + "wandb_proj_name": "infope_robomimic", + "wandb_group": "ph_visual_only_independent_encoder" + }, + "save": { + "enabled": true, + "every_n_seconds": null, + "every_n_epochs": null, + "epochs": [ + 0, + 2, + 4, + 6, + 8, + 10, + 15, + 20, + 30, + 50, + 100, + 200, + 300, + 400, + 500 + ], + "on_best_validation": false, + "on_best_rollout_return": false, + "on_best_rollout_success_rate": false + }, + "epoch_every_n_steps": 100, + "validation_epoch_every_n_steps": 10, + "env": null, + "additional_envs": null, + "render": false, + "render_video": false, + "keep_all_videos": false, + "video_skip": 5, + "rollout": { + "enabled": false, + "n": 50, + "horizon": 500, + "rate": null, + "warmstart": 0, + "terminate_on_success": true, + "epochs": [] + }, + "env_meta_update_dict": {}, + "ckpt_path": null + }, + "train": { + "data": [ + { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5" + } + ], + "output_dir": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/.incomplete/seed_0", + "normalize_weights_by_ds_size": false, + "num_data_workers": 0, + "hdf5_cache_mode": "low_dim", + "hdf5_use_swmr": true, + "hdf5_load_next_obs": false, + "hdf5_normalize_obs": false, + "hdf5_filter_key": null, + "hdf5_validation_filter_key": null, + "seq_length": 16, + "pad_seq_length": true, + "frame_stack": 2, + "pad_frame_stack": true, + "dataset_keys": [ + "actions", + "rewards", + "dones" + ], + "action_keys": [ + "actions" + ], + "action_config": { + "actions": { + "normalization": null + } + }, + "goal_mode": null, + "cuda": true, + "batch_size": 16, + "num_epochs": 500, + "seed": 0, + "max_grad_norm": null + }, + "algo": { + "optim_params": { + "policy": { + "optimizer_type": "adamw", + "learning_rate": { + "initial": 0.0001, + "decay_factor": 0.1, + "step_every_batch": true, + "scheduler_type": "cosine", + "num_cycles": 0.5, + "warmup_steps": 500, + "epoch_schedule": [] + }, + "regularization": { + "L2": 1e-06 + }, + "num_train_batches": 100, + "num_epochs": 500 + } + }, + "horizon": { + "observation_horizon": 2, + "action_horizon": 1, + "prediction_horizon": 16 + }, + "unet": { + "enabled": true, + "diffusion_step_embed_dim": 256, + "down_dims": [ + 256, + 512, + 1024 + ], + "kernel_size": 5, + "n_groups": 8 + }, + "ema": { + "enabled": true, + "power": 0.75 + }, + "frozen_obs_encoder": { + "checkpoint": null, + "checkpoint_sha256": null, + "active_encoder_sha256": null, + "source": "ema" + }, + "ddpm": { + "enabled": true, + "num_train_timesteps": 100, + "num_inference_timesteps": 100, + "beta_schedule": "squaredcos_cap_v2", + "clip_sample": true, + "prediction_type": "epsilon" + }, + "ddim": { + "enabled": false, + "num_train_timesteps": 100, + "num_inference_timesteps": 10, + "beta_schedule": "squaredcos_cap_v2", + "clip_sample": true, + "set_alpha_to_one": true, + "steps_offset": 0, + "prediction_type": "epsilon" + } + }, + "observation": { + "modalities": { + "obs": { + "low_dim": [], + "rgb": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "depth": [], + "scan": [] + }, + "goal": { + "low_dim": [], + "rgb": [], + "depth": [], + "scan": [] + } + }, + "encoder": { + "low_dim": { + "core_class": null, + "core_kwargs": {}, + "obs_randomizer_class": null, + "obs_randomizer_kwargs": {} + }, + "rgb": { + "core_class": "VisualCore", + "core_kwargs": { + "feature_dimension": 64, + "backbone_class": "ResNet18Conv", + "backbone_kwargs": { + "pretrained": false, + "input_coord_conv": false + }, + "pool_class": "SpatialSoftmax", + "pool_kwargs": { + "num_kp": 32, + "learnable_temperature": false, + "temperature": 1.0, + "noise_std": 0.0 + } + }, + "obs_randomizer_class": null, + "obs_randomizer_kwargs": {} + }, + "depth": { + "core_class": "VisualCore", + "core_kwargs": {}, + "obs_randomizer_class": null, + "obs_randomizer_kwargs": {} + }, + "scan": { + "core_class": "ScanCore", + "core_kwargs": {}, + "obs_randomizer_class": null, + "obs_randomizer_kwargs": {} + } + } + }, + "meta": { + "hp_base_config_file": null, + "hp_keys": [], + "hp_values": [] + } +} \ No newline at end of file diff --git a/policies/robomimic-ph-visual-only/can/initial_conditions_ph50.hdf5 b/policies/robomimic-ph-visual-only/can/initial_conditions_ph50.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..595c42f3b2ee9d28f8e2ceaac62e6513c27f23fe --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/initial_conditions_ph50.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87e3e589adfe85a64d780f78971ca97c02627600ac5065b2c6da9f8a4baa08e2 +size 24484623 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f4fdeb2f637add90c0bfd9eed45af76fe485e7aa --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "946b9bbd8b33a2a672eb2e898b14a33e6e99f3c0fcb1865b7a20976e6e1ae417", + "size_bytes": 2030842 + }, + "trajectory.h5": { + "sha256": "dbf82ba73f8f1b6b0a21fe121478e90a85362f7eddd1a7f87f2e5cd464f8e486", + "size_bytes": 148632 + }, + "trajectory.json": { + "sha256": "1dc4493d70040ddd8f9da100485815835bcde7db76f17597980f4947b23ce15c", + "size_bytes": 69350 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 2030842, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bede330066d8eecce42b2536a2f5965ad6bd28e9 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:946b9bbd8b33a2a672eb2e898b14a33e6e99f3c0fcb1865b7a20976e6e1ae417 +size 2030842 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75af1f9509c1b7ef402f92827334e43336786e46 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbf82ba73f8f1b6b0a21fe121478e90a85362f7eddd1a7f87f2e5cd464f8e486 +size 148632 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..22c881e17e6db1d50b13b231caf75bc7a1e0c59a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 4078649521, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "sl3zkh", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_0_t0__sl3zkh", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_0", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_0_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 4078649521, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_0_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_0_t0__sl3zkh" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_0", + "initial_condition_id": "demo_0", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_0", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 23, + "reset_view_sha256": { + "agentview_image": "66800a2e8b044ec95192e84411fd648bc9046d5444c7e321447c819de8a939ea", + "robot0_eye_in_hand_image": "d7f5f532bf099278c46b3b6d09964b2faebdc1d50ba6aeab947c395a975504b7" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.057148905146216324, + 0.21409478553721212, + -0.0213125595846902, + -2.6419519570459262, + 0.0126615422511649, + 2.9136245964638965, + 0.7845676624721962, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.123724912698951, + -0.20150121318116285, + 0.8600000000000001, + -0.9759306309327495, + 0.0, + 0.0, + 0.21808118581667135, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "65de796d31dd1edff6aca76d0d7ba6df88559e291b0db74ef4f344a5f33d6ab2" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.39606280811131 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..bd9f2ee8e2bc97f77d43e6983df050604a1b1a60 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "9f297f73b163f586cae7b2a87974aec9c1ba688663597aab3af8ae3c38de8679", + "size_bytes": 1363524 + }, + "trajectory.h5": { + "sha256": "916144ffa565e0b11e787c80269483450015b2dceb467d75108a516da3313078", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "d88787c95c7e308ef843ccd3413d9ac49e7b4abb2da84330eef35b406e3d93eb", + "size_bytes": 69358 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1363524, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a8d24d5f94fe00c2330f313ad38537ca2dd0a58c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f297f73b163f586cae7b2a87974aec9c1ba688663597aab3af8ae3c38de8679 +size 1363524 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b13f0f48392acf78f7b16dde48115fa91f16cc8d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:916144ffa565e0b11e787c80269483450015b2dceb467d75108a516da3313078 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..a90ea3f0c51369f1cf8a361e381d9dd4eb7cedd3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2216121921, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "ibdpyi", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_10_t0__ibdpyi", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_10", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_10_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2216121921, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_10_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_10_t0__ibdpyi" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_10", + "initial_condition_id": "demo_10", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_10", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 42, + "reset_view_sha256": { + "agentview_image": "8b5b4d46eafb1419949c5dee4990842714b5fda5e9d76d935962a96966b6b680", + "robot0_eye_in_hand_image": "fb450c85e519559b2e7aaf8ba23d331544f59e4f868556eff2128103d11ed2bd" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.027364734485073847, + 0.212815183559462, + 0.00865169248486525, + -2.6102107598196134, + 0.013744301139624071, + 2.9090112657048293, + 0.7837353132082294, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.09569653883325538, + -0.282536737133424, + 0.8600000000000001, + -0.9908953575637027, + 0.0, + 0.0, + 0.13463428374192696, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "8bd56d796b1fcf56c1803ca0a47562fea7d12ad63f5bc190a9cc0f9837b6c84c" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.38149662036449 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..771f72f0494819372c4746c5cd2145a4876cae38 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "c9dd42a40a6fcf98c7ad9c9c45d7e59f2f73d938649371d8cd91a102d7f0e535", + "size_bytes": 1375672 + }, + "trajectory.h5": { + "sha256": "0dfc775f270322b2de9ba31d8af5913739ff0e5c613fd74ffe245dd168b55a56", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "9757be2112fcd1707db11967ff06ed0b7fe4cc2b92840c75e6b485f86ea2b0d7", + "size_bytes": 69367 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1375672, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca4129e0e577235dce496496b178198b24da9fee --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9dd42a40a6fcf98c7ad9c9c45d7e59f2f73d938649371d8cd91a102d7f0e535 +size 1375672 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bda71bf5f1e565a5d03e0daf0dc59ef2b43199ea --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dfc775f270322b2de9ba31d8af5913739ff0e5c613fd74ffe245dd168b55a56 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..2ade3503fac3568b469811c52712537d93790684 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 462492048, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "phpqxy", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_105_t0__phpqxy", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_105", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_105_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 462492048, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_105_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_105_t0__phpqxy" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_105", + "initial_condition_id": "demo_105", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_105", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 0, + "reset_view_sha256": { + "agentview_image": "a73d0b2d3a8442474b15daf8eab86a3a45cc296a17b65cd4704d9eb124cf7b28", + "robot0_eye_in_hand_image": "2d337ffcd188a70fb4327aa8299e34d9afec013adaf2c7ffb3a566e15ee4d8f0" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.00987442094093274, + 0.16746594562297312, + 0.017955846774289443, + -2.6195040247834496, + 0.026398552376706897, + 2.9027240001204198, + 0.7719144311781908, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.20066330173980917, + -0.41849203128014323, + 0.8600000000000001, + -0.6712161367044391, + 0.0, + 0.0, + 0.7412616932147296, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "79b84e72122e86e18c5b6146ecbd4da767e24771bc3980a4f7330743f3a31d45" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.66470440011472 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..afc66e69313934a406dd447d50360e05c8a72e24 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "150f0da9c2aae43c26d697614e968c868314ef73dc1d284cfd40c1a1a96d6790", + "size_bytes": 1674566 + }, + "trajectory.h5": { + "sha256": "ab4031db36711d986ee8691b53cdf994d1a2a3fef644683673cbba6409354385", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "38c86e7434d44eefcb2045aca3383d698ed44c7143b995dc3e687d0a7ba4af40", + "size_bytes": 69369 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1674566, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..abec78da9a9ec08eb8b52ee311c740826ec0e8ad --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:150f0da9c2aae43c26d697614e968c868314ef73dc1d284cfd40c1a1a96d6790 +size 1674566 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4385df2d6b9dc293b6978cac1f833fd551903eed --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab4031db36711d986ee8691b53cdf994d1a2a3fef644683673cbba6409354385 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1f8c9ff7f45cb6613c98e335896ff5ef2dfc7c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1262520644, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "9n0pyg", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_111_t0__9n0pyg", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_111", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_111_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1262520644, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_111_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_111_t0__9n0pyg" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_111", + "initial_condition_id": "demo_111", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_111", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 8, + "reset_view_sha256": { + "agentview_image": "8c3c9fad59ad0b63245d86c424790b168b545c513b71045d552bfb149e813886", + "robot0_eye_in_hand_image": "709140e00760b5a7cdd202cf2a41330ca6f5ac2fbd575be2729b0f441c307dcd" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.019108331291004012, + 0.20873380478800388, + 0.030802597853300633, + -2.5986236838504357, + -0.02323605412012226, + 2.9424213970684896, + 0.8108090861974767, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.16278263013008393, + -0.31308607635106545, + 0.8600000000000001, + -0.3255987117735001, + 0.0, + 0.0, + 0.9455080533191863, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "c11b3ffbd050cb02b190e527affbba5a3d64970f1bf3ea4ab8b7e297b32e0f28" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.27057714667171 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e296ccf6eb3dba1ee0cc8c99115cbb3818b3d2d3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "b14919af99ee758a440621d4c79357b8e95c5db25d8a11a982d8ce89e11a6767", + "size_bytes": 1642980 + }, + "trajectory.h5": { + "sha256": "3fc47b71fc95dfd8a4a65ef7ded93aedc50b768c48fb2980df0ee3a59d583928", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "a6551b99896098727d27e2afd82e0d0a913d77debebf771d1795b17ce360a4fa", + "size_bytes": 69372 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1642980, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b602bae470c44e4512b5fe51acddb1da56f9da3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b14919af99ee758a440621d4c79357b8e95c5db25d8a11a982d8ce89e11a6767 +size 1642980 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..69908784bdc5ac42032c777d0a2f2525099ce721 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fc47b71fc95dfd8a4a65ef7ded93aedc50b768c48fb2980df0ee3a59d583928 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..2dab4f5fc71f62e7243e8c6d70ba0ae48c667877 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1751963067, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "je37k6", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_116_t0__je37k6", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_116", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_116_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1751963067, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_116_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_116_t0__je37k6" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_116", + "initial_condition_id": "demo_116", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_116", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 40, + "reset_view_sha256": { + "agentview_image": "0289cb4175804f4f336920bd7e169e608188b27a2d5a2f1c59ef78f64bc3fbc7", + "robot0_eye_in_hand_image": "7fda44e4c9bcca42df3661dccaec3420911b38e99f5aa651d3df9c287f98871f" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.008109796078715351, + 0.18134996610779014, + -0.0050121120684912856, + -2.6057303660716986, + -0.02504420330304886, + 2.9312675730388795, + 0.7471934508061948, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.05928694956473553, + -0.12839340778282096, + 0.8600000000000001, + -0.299355115697917, + 0.0, + 0.0, + 0.9541417686620195, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "6e3eb7116d11829c4c82755267967dc2c873f8bbc98945170d2ae2d176bdd376" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.71111088991165 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef3c004eda74f412b052091e857895edca7d2e1 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "e9c988776a98dc77a7b2763f210493e7ae14711eec1c56019a56835f905c235d", + "size_bytes": 1479012 + }, + "trajectory.h5": { + "sha256": "0d9cca3cd2f586291e3c8d74a4159cf40dd58e57cd99d7f7da870b1762f060d4", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "9a5eda6ee0a12d549d6f50c681f32df6108ad2298ad9aacd6c5e0347a50f9f8d", + "size_bytes": 69366 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1479012, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0e758c747d55272321f073f4ba4c65e63d54fce3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9c988776a98dc77a7b2763f210493e7ae14711eec1c56019a56835f905c235d +size 1479012 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c029966b12ab0065dae9d60affe6854f31f7b77 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d9cca3cd2f586291e3c8d74a4159cf40dd58e57cd99d7f7da870b1762f060d4 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..36020ce60451e45148749c0e98d3488a291b10fc --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 807187610, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "6jckzl", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_117_t0__6jckzl", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_117", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_117_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 807187610, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_117_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_117_t0__6jckzl" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_117", + "initial_condition_id": "demo_117", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_117", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 24, + "reset_view_sha256": { + "agentview_image": "337f78e8d28fafe17eef84aa0924a42f4883defaf523489954557fe775df8619", + "robot0_eye_in_hand_image": "267ef6aab65c85620e0db25bdec77b52abb6dd168a57c5b28529e3a83fb26bd7" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.009823836622981221, + 0.17720802916752382, + 0.011218065103677935, + -2.632780242252119, + 0.01831516571388879, + 2.9409607666614987, + 0.799502299324446, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.16169349808265113, + -0.39159728208434913, + 0.8600000000000001, + -0.9998196405606579, + 0.0, + 0.0, + 0.01899174423682546, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "ade061d7d1e609fc7d1a8d494d17ff561dede91e9957a5eb7ce3d973e18c48bc" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.78864685073495 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1f177297f95c36a409f34dc9c4ff27a2d89f9820 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "0d2d87413304a06f0b87234e4594cb9fb9039548b72881dfe24a58b2e652dcef", + "size_bytes": 1251608 + }, + "trajectory.h5": { + "sha256": "2157998cf9c4f7805fac0448e66e6cdc3e1e2c34ff8519b1ef94a83e51204433", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "109da7262ba154dc0132fdb8c1519c7798e59d09bc92a6f9da4bd01c10003dd2", + "size_bytes": 69368 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1251608, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ec7d8956e97096ff46096509325f9b363358b2a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d2d87413304a06f0b87234e4594cb9fb9039548b72881dfe24a58b2e652dcef +size 1251608 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..57091062f3aa8dcdeceeabf8b99353b246476a40 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2157998cf9c4f7805fac0448e66e6cdc3e1e2c34ff8519b1ef94a83e51204433 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..8922179d49b7d6fa458039be4a289cf020b32e9d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2619945426, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "hs0ins", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_119_t0__hs0ins", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_119", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_119_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2619945426, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_119_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_119_t0__hs0ins" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_119", + "initial_condition_id": "demo_119", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_119", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 29, + "reset_view_sha256": { + "agentview_image": "8e594225d23fa157018486d90ced8e02d5ef9fd8d5dbef4795b9497ca11c5700", + "robot0_eye_in_hand_image": "47a1d5a3203be03744d5d6631dd7b9f7cfdc3fc057c63242864ff27866fb9262" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.016869261071455303, + 0.1706089048451454, + -0.042298055615458345, + -2.642772093539309, + 0.015640020405047948, + 2.921789506047071, + 0.7683436208578156, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.20057813188486492, + -0.2982014144863882, + 0.8600000000000001, + -0.9430540534485943, + 0.0, + 0.0, + 0.33263952301880184, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "6f4f496060893a57aef9d808fc3f35e3ab5f103785dd17836c28e7eda231b61e" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.89774799253792 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7513ea3da482417b4f828dc87e94eef3abb9c355 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "adeabad18b16ff733e4e25a825ef82c5f21cf9c39d8f2df509145050e2d70c5e", + "size_bytes": 1474875 + }, + "trajectory.h5": { + "sha256": "c99ff4ce35878b4bfc491b9bdda56a96c4671b1bd254ef36a8ef482d7dc07b26", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "4b1cdcb77fbf9bc6a7d4dfb6ecbfa76e9d6dcd505398160c6da7125c7b51e772", + "size_bytes": 69367 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1474875, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d3e4846e1fdcf6c883e2b75a192817dde3dab4d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adeabad18b16ff733e4e25a825ef82c5f21cf9c39d8f2df509145050e2d70c5e +size 1474875 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7d6062227a27837e04c77ed806e25aaed77ffa63 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c99ff4ce35878b4bfc491b9bdda56a96c4671b1bd254ef36a8ef482d7dc07b26 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..ea95ba8d9745c0435f1b86d7869f66309c04853c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1877231091, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "74pedu", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_123_t0__74pedu", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_123", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_123_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1877231091, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_123_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_123_t0__74pedu" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_123", + "initial_condition_id": "demo_123", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_123", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 38, + "reset_view_sha256": { + "agentview_image": "6ce6a86e35fe2b7e4cb01072e54ddd31e44d7e8313ceb207d50023b89ab18d70", + "robot0_eye_in_hand_image": "ec195b3cccbdd56c401d1b7347e662071865e812d39003b7165e5a5d0427d495" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.044978373692511224, + 0.16801326191936708, + 0.00335791999749501, + -2.561431951259051, + 0.004988923487343779, + 2.929319290191885, + 0.7665699877996307, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.13758959920981342, + -0.40213440211304075, + 0.8600000000000001, + 0.21468118357649807, + 0.0, + 0.0, + 0.976684181001307, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "7f3cb686af9d6d46fbdce4f9b943602f0735f6a0dcc39b2c8fdf2ba08f35558e" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.53411228302866 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e15eab1f4818297a96bcb1b62ef75911b38a0bfa --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "134bb6d0dd85c6b3726642d0dafea9721170ba4085c4960c74d4ceca3e09bf6a", + "size_bytes": 1460408 + }, + "trajectory.h5": { + "sha256": "0773c157059e1aaf10c1040f971a6c3a2aa3c66fa1b91fb433bb62a6a292cf47", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "4c412048a82a9d03b373eff27e06107d6d9c3d0b4ec63fd28f68621c8cded797", + "size_bytes": 69369 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1460408, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..242a28643df79d99527d12a8108ae7fe06b5940b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:134bb6d0dd85c6b3726642d0dafea9721170ba4085c4960c74d4ceca3e09bf6a +size 1460408 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b015cd6cf4fd4fb146162f9bb12e28fd6565d356 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0773c157059e1aaf10c1040f971a6c3a2aa3c66fa1b91fb433bb62a6a292cf47 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..055216621f3f5f20c34e154e18bc1463beb1cdbf --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1209199048, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "1rk0yk", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_126_t0__1rk0yk", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_126", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_126_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1209199048, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_126_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_126_t0__1rk0yk" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_126", + "initial_condition_id": "demo_126", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_126", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 17, + "reset_view_sha256": { + "agentview_image": "84f38496fa5336070997cec607240737584431a1b6cea95c54219bd0b20d4895", + "robot0_eye_in_hand_image": "3f2fbb6949c7d5eb834c2c00edcd2805d4b9f2440a0c67cc564ecd157442583c" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.009989079893963129, + 0.15545359300415912, + -0.008998170639402066, + -2.6224538137074593, + 0.00502624524224541, + 2.929418418964454, + 0.7608145203802564, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.2010339448635623, + -0.18023503141334538, + 0.8600000000000001, + -0.995733257782208, + 0.0, + 0.0, + 0.09227827125835752, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "3599e8405265db0eb211fbb03fed19705b1d5c558001039f3c7ced331feafad6" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.09314778167754 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3068d5cdbc3e03cccde84248d014226e4962b86d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "37c8fe6b5220d956de2a22c895b3b53b60595ebef046aedf9e47fc9c2b483322", + "size_bytes": 1194737 + }, + "trajectory.h5": { + "sha256": "bd4e19fe9cb9bd8f184538c9225d380f1b4b16c84c7ee62a9400600c5bb27eb8", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "a5095ee2517768b5d8d010922f645c61e3227ca72994b19df2ec5a3bd8a5d3ce", + "size_bytes": 69360 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1194737, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f8977a99d16dff5c4e77ba719836bfe8863693c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37c8fe6b5220d956de2a22c895b3b53b60595ebef046aedf9e47fc9c2b483322 +size 1194737 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bf5fbf7117bd1d16a2ddfcb6a3ddb5284448383 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd4e19fe9cb9bd8f184538c9225d380f1b4b16c84c7ee62a9400600c5bb27eb8 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..144dc59d5c69a07605de285a0d53a60e03c57e76 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 944304676, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "t8coco", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_13_t0__t8coco", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_13", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_13_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 944304676, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_13_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_13_t0__t8coco" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_13", + "initial_condition_id": "demo_13", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_13", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 44, + "reset_view_sha256": { + "agentview_image": "a24942e5f51ab3840aceb139ebcc7bfd8e7890a27ff2c580402a637745e5f509", + "robot0_eye_in_hand_image": "d2f44e480fc40200963d9ea3dfe93e051ce5e167f306e8f9bd4f2556fea20b25" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.028509711083636792, + 0.22904036210810771, + -0.014472923149999498, + -2.6092982196241032, + -0.016972006011857724, + 2.940346190271299, + 0.8213382734761229, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.09380601354398357, + -0.352592942587865, + 0.8600000000000001, + 0.07001800011669664, + 0.0, + 0.0, + 0.9975457281045608, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "1b1ac06cb2da7854718bc2b8aeade5fa203eb3719bffbb4074156d74086118ba" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 122.49842214211822 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..33c52cab5080cb3e383da71fc1fad41ee92061c6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "5d946e9d1f5ae7faad7c4366c37b0d8ea203824e1a786eeae8950d77e00072ce", + "size_bytes": 1433003 + }, + "trajectory.h5": { + "sha256": "5595f142ce36c9738f272b31483118aaa7e48b9bf04214fe0105f73a2b321ff7", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "b4971c21c7b25c52c37f5785c66268712e44d62e9196af06f0393a45b136d103", + "size_bytes": 69373 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1433003, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed4217d1cf9fdbb13d5b5060849c48905f907d42 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d946e9d1f5ae7faad7c4366c37b0d8ea203824e1a786eeae8950d77e00072ce +size 1433003 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f34da271e17d653869f14e47337dab15eac62b85 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5595f142ce36c9738f272b31483118aaa7e48b9bf04214fe0105f73a2b321ff7 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..47666c3756778ce3a7c0742ae941eb87ca6a62e5 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2016864326, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "73tg5z", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_131_t0__73tg5z", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_131", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_131_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2016864326, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_131_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_131_t0__73tg5z" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_131", + "initial_condition_id": "demo_131", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_131", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 16, + "reset_view_sha256": { + "agentview_image": "03462ab25a6a1b4a92dbf36f07a3998457c6dc4a1cae338699e6afbd231a1afb", + "robot0_eye_in_hand_image": "39db73955788ab46131b1b4e5797665890190859b3f41b73a0b90c2458f3afc8" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.03360562738322467, + 0.1865635455754181, + -0.016588163969576766, + -2.601442963123794, + -0.011915203720986006, + 2.9224546678226173, + 0.8142972304877367, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + -0.0065271557359635884, + -0.32293704421692926, + 0.8600000000000001, + -0.9702820493871926, + 0.0, + 0.0, + 0.24197674400030583, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "f69e2ae80e331a743cfc60be7cecc6b581f9ed1028019ea81391422c3a066601" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.48788989242166 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ce2cb35722942fe8989e982ec785552eb18065c3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "027e35673150a9efe150aa340e056e8b79210abfa9690207d58124636263ab9e", + "size_bytes": 1794973 + }, + "trajectory.h5": { + "sha256": "7c7223efab164b2920932b4d0d27fb99c1a52e5b156c220c8c61bc6482891db1", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "000e04499675fd3f4d7b2f9bb15c63db0cfa4f81d0c762cb76b6592e27a8b7de", + "size_bytes": 69366 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1794973, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c7165ed729aad9eb413e64bd187a8ce6d459649d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:027e35673150a9efe150aa340e056e8b79210abfa9690207d58124636263ab9e +size 1794973 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e67246c4fc5601648163f67444b70d1398f9963d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c7223efab164b2920932b4d0d27fb99c1a52e5b156c220c8c61bc6482891db1 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b6dc57b91604609cc5ffee9dd4854710370811 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3419249188, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "wmsi88", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_136_t0__wmsi88", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_136", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_136_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3419249188, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_136_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_136_t0__wmsi88" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_136", + "initial_condition_id": "demo_136", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_136", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 33, + "reset_view_sha256": { + "agentview_image": "545a0e8079179698ee0f1fc30c3764f9beec6831856cf33c0175e2b6fd3d9061", + "robot0_eye_in_hand_image": "d32bf04258bb4d3bf3d126aca7d0f383f0485efc26db1cec192b70068772a301" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.0014336860301676563, + 0.2128373385821563, + 0.03688840539437129, + -2.604366603068611, + 0.002072778310558032, + 2.9168563388045143, + 0.8040678016558732, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.07414723135044024, + -0.108282897036758, + 0.8600000000000001, + 0.8938108935632663, + 0.0, + 0.0, + 0.44844407293177097, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "00e039dc2a81e85061d3a4de6fc6ed074cbf3ff6e8ba4445ed78aef277850b16" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.49883837345988 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..91a21028031a4a0f8f829399f015cbb7d4a9fff8 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "2cfb507a50ebabed73ff7ae14d64002b2537f045215b0dfa4b2af8f88d365f3f", + "size_bytes": 1939311 + }, + "trajectory.h5": { + "sha256": "b62a8bd9cf298473221992d137e6e52c0aa46837fd77a9df95b3e19bd83b9272", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "fb87e420f95d82df4f115c4b9aa4d3ab3683fa87a6813cc01955f2abf988c8f6", + "size_bytes": 69373 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1939311, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fe78331741d654ebcadb829945bfadb52265cb21 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cfb507a50ebabed73ff7ae14d64002b2537f045215b0dfa4b2af8f88d365f3f +size 1939311 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..85ce37a555c7045e1e536b4a9a1ca9cd8bb2939d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b62a8bd9cf298473221992d137e6e52c0aa46837fd77a9df95b3e19bd83b9272 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..47d156c745a403dbe4d40311a0203b236b664bd4 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2464817730, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "u79xmh", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_138_t0__u79xmh", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_138", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_138_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2464817730, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_138_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_138_t0__u79xmh" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_138", + "initial_condition_id": "demo_138", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_138", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 27, + "reset_view_sha256": { + "agentview_image": "8ee86cdf7d9bedfaad0c0fc06f0481a161038f03e53ebb1c385b3ebe97642307", + "robot0_eye_in_hand_image": "0ab1e0ba8972b05af46f0a74598adf30d859bdf863fbd35ee23023d4d84b8ec9" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.012159029234706664, + 0.19578314662180557, + 0.010506124100071842, + -2.5887760155892727, + -0.006819994022683992, + 2.9333709840166406, + 0.8017516355924195, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + -1.4601191141550007e-05, + -0.19913125950631377, + 0.8600000000000001, + 0.4949657337715412, + 0.0, + 0.0, + 0.8689124940936227, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "9b0f6681903960791ca1f6b6b1a0d33f9628d48f4b25608d9901feb733f14b71" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.4796000327915 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..87532bbc80b1100b245c4835ca8ed3d01b34a720 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "1401024b71e8b897f9a070cccfcabaf49440a4f2023393060a59a106690c4b51", + "size_bytes": 1177745 + }, + "trajectory.h5": { + "sha256": "72f8e8627aa06e58c87f72ccfe8388e0e8d3d15b5913912811af2b62fd3a2e8e", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "db12e0ca95de22aa195b98bb935eeb97bccab76bcd1d1a5760875e9d3854130e", + "size_bytes": 69369 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1177745, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cdbab0c17691ef968406666f3c207b5d691ae35e --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1401024b71e8b897f9a070cccfcabaf49440a4f2023393060a59a106690c4b51 +size 1177745 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4da19498fab79694b3d94c424d2880148ce279f4 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72f8e8627aa06e58c87f72ccfe8388e0e8d3d15b5913912811af2b62fd3a2e8e +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..aa54868a921d834945775bba123dca071caee43a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1634458621, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "xtgna8", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_139_t0__xtgna8", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_139", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_139_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1634458621, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_139_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_139_t0__xtgna8" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_139", + "initial_condition_id": "demo_139", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_139", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 20, + "reset_view_sha256": { + "agentview_image": "8b18f1c9a9cbf50eaa0999b53a72b9cc1710c4c8fb01cbb9c9ff1d3190fa2794", + "robot0_eye_in_hand_image": "a412e8f33338e79c2eaaf9096164a86505240c3cbc6102147c65d488b05bc8bf" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.007876970010911373, + 0.17472674894665735, + -0.036364696516014136, + -2.639388992524286, + 0.009765692041094344, + 2.9249685969332817, + 0.7642606211576466, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.03558135937510598, + -0.21946803730328057, + 0.8600000000000001, + 0.9364767681691842, + 0.0, + 0.0, + 0.35072961477383097, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "6953210404736a103f2e2d06c773623ab1ef6e9e2b090980fad12d9328939026" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.8597859358415 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1f0411579077fb9be452ec1578e4caf0e140eaa9 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "82783b9f692ad900a475f4e80d3e357a3c7ce1d4374ceda498eb8bafd22d564b", + "size_bytes": 1431575 + }, + "trajectory.h5": { + "sha256": "94ac895b62ff74e80fe75e8e15812d991f60554dd467042fce084e8fa17859a6", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "d588096651d474b1db3b0f66f5f526e550c77c06c47ee463dc833ae4aba02d9b", + "size_bytes": 69366 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1431575, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..49778fa769ae1e91c0454efdeec00fd6b22c9577 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82783b9f692ad900a475f4e80d3e357a3c7ce1d4374ceda498eb8bafd22d564b +size 1431575 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1fd97550fe3fe3b83e5ba0b50a3b6f5bba650ec2 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94ac895b62ff74e80fe75e8e15812d991f60554dd467042fce084e8fa17859a6 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..2055c0c1766289d3563959ab32fd6cbb3ada3718 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 817244654, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "kf3l4f", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_142_t0__kf3l4f", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_142", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_142_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 817244654, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_142_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_142_t0__kf3l4f" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_142", + "initial_condition_id": "demo_142", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_142", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 19, + "reset_view_sha256": { + "agentview_image": "28f90e4b83992a0f9e8928c5204e9656d52b10e661a6bbd05d64ac19cc1c08ba", + "robot0_eye_in_hand_image": "51551698be73626c05ccd42499e19dc649067222be3af81e913d87f421d81726" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.029972912637179654, + 0.21444023717572208, + -0.004274105419270643, + -2.6383155369575126, + -0.01045555881225542, + 2.91183043918609, + 0.8142676935420079, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.00807431318827491, + -0.3810355191379073, + 0.8600000000000001, + 0.9812623051094991, + 0.0, + 0.0, + 0.19267664251588051, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "0d0a37d1bd7d40e2ff1f754a295ec4112754501256704a5da3ff6709f8d1f4a7" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.1962337223813 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9a809b9106ddee7fe410702ab1b393b600cc8148 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "30743644884ea214d63fc8e4fc530c8e3cae558287eae5638f124ae1a77234fa", + "size_bytes": 1456115 + }, + "trajectory.h5": { + "sha256": "865e258aad3de1d544e91da54a49f9403dee04e2daf5ca5e8a79a6f19855d0dc", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "77e8cb239354cd230aebb5e235228702ea587de63b58f60295b37fe7d45e50d7", + "size_bytes": 69367 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1456115, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f204904c44ff726140c2f1b2eeaf1c94ae29935d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30743644884ea214d63fc8e4fc530c8e3cae558287eae5638f124ae1a77234fa +size 1456115 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b358034cee17d6f7e27391661af1544fd4636f96 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:865e258aad3de1d544e91da54a49f9403dee04e2daf5ca5e8a79a6f19855d0dc +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1b1a05f4e59c167f733039af3881944cea7ef2 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3443528036, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "4jhzj3", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_145_t0__4jhzj3", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_145", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_145_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3443528036, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_145_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_145_t0__4jhzj3" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_145", + "initial_condition_id": "demo_145", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_145", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 36, + "reset_view_sha256": { + "agentview_image": "94e85d9fd3700fd79a4651ec409ecbdca94ec2e562567acdce172241d5c9b75a", + "robot0_eye_in_hand_image": "319f4a3ad247ad490387d30b4f32fbf6e8ade0ffcd35589eba347e459e567a89" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.028222093548745088, + 0.18590860306607393, + 0.000566067394637335, + -2.6249496693920324, + 0.023601391033373977, + 2.944581704670036, + 0.8045804247371838, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.11676670530233871, + -0.3699491799276123, + 0.8600000000000001, + -0.614016048312723, + 0.0, + 0.0, + 0.7892935400815264, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "177bc85a3d5ffded133460f173f6ea83e9d0a6de0ddfea3529002eaecbbd9daf" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.18303592968732 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8749ebc433f6fadfba478a5a9d86d3890580b552 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "2531d70dff43af61ba77b4e2312bf19423ccc412fa64f646aa20892001b4946a", + "size_bytes": 1283797 + }, + "trajectory.h5": { + "sha256": "630ebd6297b6f9037561b0767b61b0dcce7458432c93393a41c65f20380e3b4b", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "6e2af3609ea1ea2e091e1d0fb33789557e396008e54aea8121c26ec073e124d6", + "size_bytes": 69366 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1283797, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5e3e5994258d0dc184e9d600509f6e6045a0fa22 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2531d70dff43af61ba77b4e2312bf19423ccc412fa64f646aa20892001b4946a +size 1283797 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bc66847bb757776fea32147960fb6145ed6f95ec --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:630ebd6297b6f9037561b0767b61b0dcce7458432c93393a41c65f20380e3b4b +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..729c96755241919d6a35168cc09fe849d1291965 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 261649409, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "pkdwqi", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_152_t0__pkdwqi", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_152", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_152_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 261649409, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_152_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_152_t0__pkdwqi" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_152", + "initial_condition_id": "demo_152", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_152", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 13, + "reset_view_sha256": { + "agentview_image": "4777644e4212ae55aff1651fb2d39fa270078ce598349c5275108424b7033045", + "robot0_eye_in_hand_image": "cc683cc960a9f67233c1fbc3f6a661c8ff3e24f90b3a525be0553c1a0901bd3b" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.003283373784731556, + 0.15888121215858758, + 0.009432553480121439, + -2.6288562885343554, + -0.00985804633090402, + 2.934891012925688, + 0.7690084311108356, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.17052747908311688, + -0.13487684515416645, + 0.8600000000000001, + 0.02028919616634756, + 0.0, + 0.0, + 0.999794153072983, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "d7c1256f2b7179e3c19acc262f08f29c5af6dccd168f75603ee3b8ccf012ae09" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.87665811460465 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2532553fc148fcf6d10c719a3caa3c38651068bb --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "1ecfdd11ba9307dc0dc692623098dac45738ace0c239cedb9249864c16cb20be", + "size_bytes": 1396914 + }, + "trajectory.h5": { + "sha256": "98a906ce2796f91b27901b85daa908a752bd0dc30e728b0bf625a03d07127173", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "89cd04103b284fde9adf250fdec957d7ade6e36f71cb4d4da7af8a3e17e1c939", + "size_bytes": 69372 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1396914, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..10a8121df8d44a08815c50a0be97dcc1e225eb60 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ecfdd11ba9307dc0dc692623098dac45738ace0c239cedb9249864c16cb20be +size 1396914 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33a7fe78e3dfcc6ff8c8ab5170cdf38fae7e19da --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98a906ce2796f91b27901b85daa908a752bd0dc30e728b0bf625a03d07127173 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..2fece17e4a1ad8695d71538ce79bb00401970265 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1513279214, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "lq2jsn", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_153_t0__lq2jsn", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_153", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_153_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1513279214, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_153_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_153_t0__lq2jsn" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_153", + "initial_condition_id": "demo_153", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_153", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 28, + "reset_view_sha256": { + "agentview_image": "eb79395ea24a9af6cf7337602992ed2b22d3906931e61514137590d912025b32", + "robot0_eye_in_hand_image": "d4d94188ef828b0e86f4d3fda95260b4efa78465ad319053dfa48e5cf879b65e" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.02981488545466902, + 0.20340922439484255, + -0.025660930384798903, + -2.60307647804846, + 0.006074131515321465, + 2.9403061021878383, + 0.8140996240939118, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + -0.006802673289981548, + -0.18272831955850222, + 0.8600000000000001, + -0.05441320445851532, + 0.0, + 0.0, + 0.9985185041753388, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "36a3f68435987f1d04f47358ed2c03f42df7e4b5dc50e83a1b16dc96d7b855b4" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.09153000731021 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..31525e62ee9dd0f4590a6bc5549fc03dd9cf9ec5 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "15d171ee040eae2c38999fd9241324801a9ed39d77107ffbbae8720cd5e71c7b", + "size_bytes": 1506635 + }, + "trajectory.h5": { + "sha256": "8859b23521587e1000452801c5d60e8ef52ab9584ae2cb81d72c1ac9e8c73a3c", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "edb2a2bff453ebffe4e10a6ca967ceaa380c15af7ade336c910cde31a5c9faa1", + "size_bytes": 69373 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1506635, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3de961174005545646dd4b95707e00bfe57320c5 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15d171ee040eae2c38999fd9241324801a9ed39d77107ffbbae8720cd5e71c7b +size 1506635 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..56229f4d9ca809fb579b3ba1c60ea1b4066efee2 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8859b23521587e1000452801c5d60e8ef52ab9584ae2cb81d72c1ac9e8c73a3c +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..0880a33666b460efa951713a8d7e2327e3ce790f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 735243416, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "znt27y", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_154_t0__znt27y", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_154", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_154_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 735243416, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_154_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_154_t0__znt27y" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_154", + "initial_condition_id": "demo_154", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_154", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 48, + "reset_view_sha256": { + "agentview_image": "12c6b0bd557c1506cc61b3bb26f43a09004487bf86852805efc6de43b64c53eb", + "robot0_eye_in_hand_image": "2a170d98031f26086d4b8e35364130cf43c5c02856b97db259fc12b18236d7fc" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.009378894964941008, + 0.18340055341617786, + 0.0026047754667048177, + -2.6219260559554045, + -0.0032245209206717518, + 2.9652327921984716, + 0.7796855724383462, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.052482851202816386, + -0.34217455754651405, + 0.8600000000000001, + -0.7753968094453111, + 0.0, + 0.0, + 0.6314742971032408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "a271f7e10b6492395fb7e3f01d79cc6037316a8ca29720d60bde75570468663b" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.60699281003326 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9619ce2bb6086075dad139e613a6671f40fb62d3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "5a591f76e9902ca9d50b1a0f530381d37a6bec9996da9d6cea7ad84be37a349f", + "size_bytes": 1382320 + }, + "trajectory.h5": { + "sha256": "8ec685a387220ae04e4bbbe46b5134df4a60b23294f356b55b90c66e4f1283d3", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "5574d61dad688598aaa6aa6adf483f1f25552d980867d0e25dee64b2d70e65f9", + "size_bytes": 69369 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1382320, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b2f669f2d07f905bfc4ab0e7cb91bfc22ed49329 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a591f76e9902ca9d50b1a0f530381d37a6bec9996da9d6cea7ad84be37a349f +size 1382320 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ff411ebd1312ad0ff9563d6de921445ac1cbf35 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ec685a387220ae04e4bbbe46b5134df4a60b23294f356b55b90c66e4f1283d3 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..27b21e8729066a3b3c17ff141ad726670851ab8e --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 4237812891, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "bxa5jj", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_157_t0__bxa5jj", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_157", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_157_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 4237812891, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_157_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_157_t0__bxa5jj" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_157", + "initial_condition_id": "demo_157", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_157", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 14, + "reset_view_sha256": { + "agentview_image": "a778ef35b9074916e5c55761899cb0f48ed611f368d30baf00a246ca1d821a2d", + "robot0_eye_in_hand_image": "5d7db83878e824fab9c91338eba902febeacfde22d440dc9829c79db0542c6ef" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.007540238903212695, + 0.19471286334187682, + 0.006703678532035061, + -2.627833520165843, + -0.0042725651272258235, + 2.9134488311142848, + 0.8073094153664798, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.1379149348562607, + -0.3342708677725563, + 0.8600000000000001, + 0.07746101393867988, + 0.0, + 0.0, + 0.9969953817945154, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "e60b840fb3edb2b698d086f769a0841a3ebafe46588207a9baa802d3ec698ac1" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.00666715297848 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..60b6824cc1adc02a32d0631ca88953365c5bd82c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "d6916e6f981b2785f346c00ee83e1ce06ddd625e75108639f8732dff70db8864", + "size_bytes": 1434780 + }, + "trajectory.h5": { + "sha256": "a872c21c7e1d1354cd0fbf0740401daf7e53e0be76aa7141330e22207e7d1464", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "5fe03d54f7b2b69e9d00feb22d9e64bc16309a7b1ee34262b2313294fdaeab62", + "size_bytes": 69370 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1434780, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..025a969f828795b5c2ce5d36293135034f98fdec --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6916e6f981b2785f346c00ee83e1ce06ddd625e75108639f8732dff70db8864 +size 1434780 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16f91745795fe35c20679a344145f85db44b4607 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a872c21c7e1d1354cd0fbf0740401daf7e53e0be76aa7141330e22207e7d1464 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..9edcfd80edbb18800c1948c9254d4586a0bc9f9b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1641426758, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "z913ss", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_158_t0__z913ss", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_158", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_158_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1641426758, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_158_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_158_t0__z913ss" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_158", + "initial_condition_id": "demo_158", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_158", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 21, + "reset_view_sha256": { + "agentview_image": "7a59fe24b0745abbf810d36dfd24282cd0a654b46e296d01e0c53efc8b28e7ec", + "robot0_eye_in_hand_image": "33c5e5870cfd2871a2a69ff4df4cf7159d35af2f80fac3d60b5481dcafbaba6a" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.030177003677795976, + 0.15780842180414797, + 0.022108465059981205, + -2.640445853269089, + -0.00020872956700662844, + 2.961970155816216, + 0.7432100973880512, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.036915263976066565, + -0.3230554635783273, + 0.8600000000000001, + 0.7936983383596663, + 0.0, + 0.0, + 0.6083115547851323, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "be96d8f17c50498c22ffadf779ad214f98a64c981ddfb0c02a79f1d115593e05" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.49375826865435 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6e36e156b0936537290a74b8e4b73c7dd125f02b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "3936aeacd03740515718c8292aa6bfded67edc825e871caf909c540cebb832a3", + "size_bytes": 1606821 + }, + "trajectory.h5": { + "sha256": "5993e6f291d38853955824d4ccaae27ab79f670ec4793c2899a565b98a09a7c7", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "e748e7a53dd9eee7019cd0ddefdb2f713cdc1452128201a36c9b8fc70aa52eff", + "size_bytes": 69366 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1606821, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1697211474edafd92b0e347a6010714a7db679e7 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3936aeacd03740515718c8292aa6bfded67edc825e871caf909c540cebb832a3 +size 1606821 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1fb1355ce85531f7db0c60b0a68c6949f8ef8bec --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5993e6f291d38853955824d4ccaae27ab79f670ec4793c2899a565b98a09a7c7 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..8988231afb43c77c9384659fba3e6bdc2abea393 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3546470453, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "h7kk8c", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_159_t0__h7kk8c", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_159", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_159_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3546470453, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_159_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_159_t0__h7kk8c" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_159", + "initial_condition_id": "demo_159", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_159", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 5, + "reset_view_sha256": { + "agentview_image": "a1175920b9f728cb8d57b104962a835f98cf7876eb6a43dc73d163a49719427b", + "robot0_eye_in_hand_image": "11c46098d5c73b189d0b74633d0ebc670aeea40dc33706ed78d0f0910e6b14f3" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.004800746113995234, + 0.1919505302023191, + 0.022916531112247056, + -2.604446817741977, + 0.025915543403725677, + 2.939990497834592, + 0.7625513900437784, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 2.2700245123991047e-05, + -0.085701999465736, + 0.8600000000000001, + 0.6105698515467766, + 0.0, + 0.0, + 0.7919624084400391, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "6e029208c9c78f8dc925cfc075c56c9d9438a7c47abbe9fd677c9312a4bf7219" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.64190049283206 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..82a0919b434cbdead0ce1301d2ce60e58ab16ccc --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "d7406ee79dfd2204b8ce17e413232327fbb4ef96e6b7bd3a690bc8b77f88a977", + "size_bytes": 1147410 + }, + "trajectory.h5": { + "sha256": "56e65fbf0d0ad48e1943fd36bab299784b4eab3336fe4aaa83f2cf574ec4401c", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "f2a198dab90e3043192f95ecababa54281567991f8b7f6c6df5a389e28f389e1", + "size_bytes": 69367 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1147410, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..13318ce3c00f536fdb9e60f111b133426cd65fff --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7406ee79dfd2204b8ce17e413232327fbb4ef96e6b7bd3a690bc8b77f88a977 +size 1147410 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ea5d565641133fa265a9b1b6c5d33845d23703d5 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56e65fbf0d0ad48e1943fd36bab299784b4eab3336fe4aaa83f2cf574ec4401c +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa37a7d7a1d65cdc63f3f6a3ebdbe9635b62415 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3527691026, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "h6hw20", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_160_t0__h6hw20", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_160", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_160_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3527691026, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_160_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_160_t0__h6hw20" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_160", + "initial_condition_id": "demo_160", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_160", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 47, + "reset_view_sha256": { + "agentview_image": "ff5d5ddcbf04dfffefbcdbe9e51e37ea93c1eb558f00bc3cdf8f1e43d3b4d70e", + "robot0_eye_in_hand_image": "f313e6cbcd2c3cfe617427d7a15b593246541cec66a11b0ae810e60ef8ef358d" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.034422226089316735, + 0.17705234657792887, + 0.023166438460585227, + -2.617184860438877, + 0.01024688995203443, + 2.937266205354181, + 0.8097163230570292, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.21500355620870637, + -0.15817747623136028, + 0.8600000000000001, + -0.7725398623226511, + 0.0, + 0.0, + 0.6349662677044345, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "9a2ab723d688c628fa0307e09c9483f3b9361b40926b4c6ee7ba72dc0ef01f54" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.82111429236829 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..caf8b3238773b8338112108d16ca38c7104f8274 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "40e637ef9412b940ad2e3e9523f0bd42e7ca1bc2c4cb7c4774bb9e1a01e76969", + "size_bytes": 1056221 + }, + "trajectory.h5": { + "sha256": "395bbc546ac2ccfd7911a57df310cfd0ccdb6a0e33d3474c2bd4fde98ef2b890", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "4405b4656be8e12da7be9947b6e30d0a7b8536b8b267295c58ca7702b17c6dc6", + "size_bytes": 69366 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1056221, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c9c5762113c4253d56fda55a6d09b47348a53690 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40e637ef9412b940ad2e3e9523f0bd42e7ca1bc2c4cb7c4774bb9e1a01e76969 +size 1056221 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0947b2a1f22618364576512d8f96a06788ea4e9 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:395bbc546ac2ccfd7911a57df310cfd0ccdb6a0e33d3474c2bd4fde98ef2b890 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..f2636e02949555bceb91a8ba7937e5ed15197773 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 707751147, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "sx6ipb", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_163_t0__sx6ipb", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_163", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_163_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 707751147, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_163_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_163_t0__sx6ipb" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_163", + "initial_condition_id": "demo_163", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_163", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 34, + "reset_view_sha256": { + "agentview_image": "9794017a2615ed2de7642e4ecd626116ae713111941b2d7792198654e64b13ff", + "robot0_eye_in_hand_image": "35413efe0d2453ea4ccdbfe174a29678f4ba5b4dc79d7f5a47b59d97e017e02b" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.025690120984400655, + 0.21286199884133125, + -0.011742871591800468, + -2.613485714621507, + 0.0251694076107737, + 2.9367955752906516, + 0.7826755834249328, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.12053917192276078, + -0.37546192988605137, + 0.8600000000000001, + 0.999185438952629, + 0.0, + 0.0, + 0.04035416440768028, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "e75cf01f97641a05815ef622a9e3c455aed5f6e75c80e4ac301997ebe2d11cf8" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 122.02772542554885 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0af81521301561707d0242587a7bf89285913883 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "019a1f24a3cf7f34245c582eb7e542f787ae6dd4fb88c2b824f55cdd4e9a2076", + "size_bytes": 1406656 + }, + "trajectory.h5": { + "sha256": "01524c6f984d516606785a2c588bef3dc68abcbf7c43d3fe3a87d5271e781936", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "1f78b96994d8983540fd732a6f906f1011036ab5a636e4a31425d62b6bd2347a", + "size_bytes": 69370 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1406656, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9347ee8381798ec5bbc459cd0a24e8fc825b11fc --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:019a1f24a3cf7f34245c582eb7e542f787ae6dd4fb88c2b824f55cdd4e9a2076 +size 1406656 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1695091dc3e50f109305367be089413564fed1b1 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01524c6f984d516606785a2c588bef3dc68abcbf7c43d3fe3a87d5271e781936 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..d3125f732c13e92c9ed7c6806e4421e70c4b5080 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3007945963, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "q9b5z8", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_165_t0__q9b5z8", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_165", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_165_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3007945963, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_165_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_165_t0__q9b5z8" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_165", + "initial_condition_id": "demo_165", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_165", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 7, + "reset_view_sha256": { + "agentview_image": "fe2d7916e999db6f7cab565d32c930befa16ca8d1592aecd0d5008c07b3fbd74", + "robot0_eye_in_hand_image": "3d3fbf36a370523bcdb64dece4ad61c85577b2044e15f7ee84de97357f368bb9" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.028201236583639128, + 0.19325875031834833, + -0.009855077154061134, + -2.619584822975267, + 0.02936965580996063, + 2.9239550870410627, + 0.7735773553396936, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.13376639372647237, + -0.33478489840883463, + 0.8600000000000001, + -0.20395381294017134, + 0.0, + 0.0, + 0.9789805116482994, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "e5c0b3d6646cbd2bcc301541a6478e86e34e96629b548e42eff82089f0a90a31" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.20267952419817 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b196198d36310cd061324fe03f4053ab675b6169 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "9b390e572988d1611d4e94df8e17d053c0ab1a5d81958d6cba11f77a086d0a79", + "size_bytes": 1404479 + }, + "trajectory.h5": { + "sha256": "ded50b5125d74b8d5193fd3a68560420db6d0fc91e87dfdce810b50854e9081a", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "94fa8606228a7bd7cf0f66a55fc069cc8bbc37cf47501edd71c5f17a737a26c2", + "size_bytes": 69362 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1404479, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..28f1d5d9ff2eaeb690487c5a393761f15e32e03b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b390e572988d1611d4e94df8e17d053c0ab1a5d81958d6cba11f77a086d0a79 +size 1404479 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df079354fe8280d796e4d03feac50aeaa9930e11 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ded50b5125d74b8d5193fd3a68560420db6d0fc91e87dfdce810b50854e9081a +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..a92d553b394c952c87265d4b03da00e1ad261558 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 66190419, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "w9w5ma", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_168_t0__w9w5ma", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_168", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_168_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 66190419, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_168_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_168_t0__w9w5ma" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_168", + "initial_condition_id": "demo_168", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_168", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 2, + "reset_view_sha256": { + "agentview_image": "a004abd67ded938ff863f30a5f8293526d08cd79aef19a0f13d8b2926862df6c", + "robot0_eye_in_hand_image": "5455bc56780ae680502520264abd0adc6bc10b73b227306004c874f6aa8d629c" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.0026043622775998544, + 0.19974713020702967, + -0.033382559652626494, + -2.629536561151239, + 0.04855533153598148, + 2.9318457566872387, + 0.7880180561184248, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.07712162884573073, + -0.14992659541684375, + 0.8600000000000001, + 0.856639504499787, + 0.0, + 0.0, + 0.515915457541601, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "952f1198ef548e3893db1dade3355a5500bb6283b7449c8a1c181a17caaeadbf" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.09877271670848 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9a644fd2ff89cac68ae484c9cfc1aee162ad1715 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "c31818e5cfc8065d7027280de666c55ade1554a0d1a5b902d86e362437888b83", + "size_bytes": 1235430 + }, + "trajectory.h5": { + "sha256": "e8f013a928490c64b09ec31fd0ded0f63a7ebecd5391c128db0460d68fd41543", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "88292d2bae7d28cbc56a25437331a3fe9199b0eecd135bb3e595da3692b67681", + "size_bytes": 69365 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1235430, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f3fb6e14df9463fcdb48f35dc6aa014be0d06b6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c31818e5cfc8065d7027280de666c55ade1554a0d1a5b902d86e362437888b83 +size 1235430 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f7c098654bdfddc046ab5b0485af70ed23f2370 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8f013a928490c64b09ec31fd0ded0f63a7ebecd5391c128db0460d68fd41543 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..96f7fa93ad4d36845565c433feba619db0f5fe5b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2145164370, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "vf67je", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_171_t0__vf67je", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_171", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_171_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2145164370, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_171_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_171_t0__vf67je" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_171", + "initial_condition_id": "demo_171", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_171", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 12, + "reset_view_sha256": { + "agentview_image": "7452e23dafee67db522b57dcde5428f3eb4c77ac9abe1da0ee419063f1a903d2", + "robot0_eye_in_hand_image": "f6239a50b33ceb5dcb47faf0ddaa3320cfb426a47db0a645af3f1f8277a295d8" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.017324486604231935, + 0.16893815362418682, + -0.04317769631568376, + -2.5975943780415767, + 0.0311653182082407, + 2.9248460707676514, + 0.771551558789215, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.1881200173406485, + -0.10805508961496588, + 0.8600000000000001, + 0.2406089978941712, + 0.0, + 0.0, + 0.9706221253053956, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "c75c54858287f007022e1aa5634922edc161b8709b7ed0975823f521d5ff3bb5" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.59150755032897 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..22e642ea4eae353fefc9721042d218fc8db4ba24 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "c63c07b3543eb693662c7f2c159e6d60edb587436360a2bf67734d3e69a9bf02", + "size_bytes": 1203411 + }, + "trajectory.h5": { + "sha256": "682c9888a3b97922b0fa58ac7462dfe74c2bbdfd4e846f17e7427848d4f5f0a9", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "4c3245a78a3005889e1ec94a3c936dc92a29b4f0413d5ddc038a7ecd9848bd13", + "size_bytes": 69368 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1203411, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc220535762463804a99ba44e280ba7f2ec9b18a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c63c07b3543eb693662c7f2c159e6d60edb587436360a2bf67734d3e69a9bf02 +size 1203411 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1faa3f1525943fe9eb822a554c63c7ab06ab2e9f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:682c9888a3b97922b0fa58ac7462dfe74c2bbdfd4e846f17e7427848d4f5f0a9 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..57a0bfc8ebbc9a1ba1cb0f4a8f787749efd41379 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2228438777, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "lzfvv4", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_172_t0__lzfvv4", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_172", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_172_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2228438777, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_172_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_172_t0__lzfvv4" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_172", + "initial_condition_id": "demo_172", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_172", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 43, + "reset_view_sha256": { + "agentview_image": "3d4eacf1c8d5f272e48935cfe89289b5a552e7d3a77bcccfa87376a40e99ab70", + "robot0_eye_in_hand_image": "8a335f9432e1bce37d1cd3ffe694c98b49fadc4ce8270f2386c784dc5dec2ff9" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.02610334181679773, + 0.20900802096255613, + -0.00025107285073377664, + -2.643321728365019, + 0.004542008300180895, + 2.923672559936907, + 0.7732567140117604, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.00983038369501836, + -0.38483171164970276, + 0.8600000000000001, + 0.623687122895256, + 0.0, + 0.0, + 0.7816740834482347, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "d6f7b75af5991d862f2b26dcd592ea23223d801e669903d57e6ce6121bdfdb91" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.79064236860722 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ea1b9b188e52348e780d1306254f5a4dda85ac --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "098b18019e90b42bfc7bedd8ff6e68aa5992f31d8a58a0de261ea0ce8add395f", + "size_bytes": 1472399 + }, + "trajectory.h5": { + "sha256": "32b6286932f42b5702375ca6ef4c6621d0d06a4224a4c4614abb24fa4987cf10", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "c03530064fb9feefa6400b217496c51b3a7eed46a69fdc2f718cd34b9753633a", + "size_bytes": 69369 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1472399, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54b60b990504e41f7f0bfbb5c1450749a6822aab --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:098b18019e90b42bfc7bedd8ff6e68aa5992f31d8a58a0de261ea0ce8add395f +size 1472399 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..36857d5555fbaefdc254720050d091d114020b26 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32b6286932f42b5702375ca6ef4c6621d0d06a4224a4c4614abb24fa4987cf10 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..6929f688849f29e6d24597c9cdf6336af2c8a5c9 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 662123408, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "37qy22", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_179_t0__37qy22", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_179", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_179_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 662123408, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_179_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_179_t0__37qy22" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_179", + "initial_condition_id": "demo_179", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_179", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 9, + "reset_view_sha256": { + "agentview_image": "14388f003b13cab68c93b1b9b5382f8670a69f243c1a9a5a39318f1043743fd8", + "robot0_eye_in_hand_image": "9078ac88fc803463750e44c37950131ebd59937674e79e313ced1da9f376cce5" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.015854806817896964, + 0.20966329847363283, + 0.009454317890687106, + -2.6326033198882803, + -0.012789986301831232, + 2.9117876466951, + 0.8013116575258235, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + -0.0009124080338243634, + -0.12905068401788525, + 0.8600000000000001, + 0.9531550239957702, + 0.0, + 0.0, + 0.30248223126594176, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "81ffaf22e235bdba02797dc678ffc112418264f21ad83d50f600bbec6360ab12" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.58016657736152 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f666958c81a701cc537eea334ba1eedd13680dd8 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "783a9e697f3a6d1441cf7d9b37943b4afbe38a696e35a109b2de84aab81dd806", + "size_bytes": 1439453 + }, + "trajectory.h5": { + "sha256": "bfe97fc834b1ff2ddeb060cc13f8a5cb73bb9561bc56580731e7cbbb72fc3057", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "2bd9babd68643b4a28d392acf096e4ad93ecd43077baf008045f5d20c8412220", + "size_bytes": 69371 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1439453, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..356e8cb1f4c5832dcafa3788f90f1c16f5b399bc --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:783a9e697f3a6d1441cf7d9b37943b4afbe38a696e35a109b2de84aab81dd806 +size 1439453 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2559edc0bb5a08fbaa3d00018c0776092d28f2f5 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfe97fc834b1ff2ddeb060cc13f8a5cb73bb9561bc56580731e7cbbb72fc3057 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..ed8b8719ee0aeaa015e4b59d7e336e2d64e51332 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1828591641, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "x3f5xe", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_180_t0__x3f5xe", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_180", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_180_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1828591641, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_180_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_180_t0__x3f5xe" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_180", + "initial_condition_id": "demo_180", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_180", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 22, + "reset_view_sha256": { + "agentview_image": "b9d83d4343a74057e79fda6cec3849f41ef4c3a76ef88168312ce184b112d723", + "robot0_eye_in_hand_image": "dfc2fec06c27c0a7f0fce7f1c3f4f543b706319d8f167b4cb36d7a967dffc5fb" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.018610492684563877, + 0.22656788397482297, + -0.00919637349112654, + -2.5913530307559776, + -0.029046541439462545, + 2.948109922405372, + 0.7916921044852908, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.17795365343852354, + -0.16970953607136538, + 0.8600000000000001, + -0.8643197761208549, + 0.0, + 0.0, + 0.5029426653271676, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "c254325ccd0efed3c42da2a5f99af2a981fecef846061e5131e41af9861c9cf0" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.19989662151784 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8b2ea7ec4fbf412fc14350d84c3a30896f8b761f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "f6846987e3a40b6ba135948706ccfec69bd70a86c394bc044e59651045105ccb", + "size_bytes": 1279103 + }, + "trajectory.h5": { + "sha256": "72cee80b380607a2570bdc9264a00b58b394f2ce6ed4cceb675234462fbc79f4", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "0d834aa1ea59f7057034570926e2252721ec75757c3ac65b1b039dfd9fad232c", + "size_bytes": 69367 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1279103, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d03abee352cbeca70e8582f0f8cae56a51e874a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6846987e3a40b6ba135948706ccfec69bd70a86c394bc044e59651045105ccb +size 1279103 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e4b4963feb892f1f25419928c66f7e58ecc78ec --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72cee80b380607a2570bdc9264a00b58b394f2ce6ed4cceb675234462fbc79f4 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6fbe62268f81b80f9da72e0024474b73ad0e09 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 936606286, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "z2mh0y", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_191_t0__z2mh0y", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_191", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_191_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 936606286, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_191_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_191_t0__z2mh0y" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_191", + "initial_condition_id": "demo_191", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_191", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 26, + "reset_view_sha256": { + "agentview_image": "9d967693ec07d421572feed741b1d19be0fbb270373e4e50c33b90ef9054a378", + "robot0_eye_in_hand_image": "b906b0887fa8ffd33bcbee869ddabb2d77c3637d6b3afdef16a8b07aae53e3c0" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.004776631404177519, + 0.21549013335907416, + 0.021580915526997414, + -2.6461717249318286, + -0.012212829744003496, + 2.91983935623632, + 0.7708779040616585, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.03121387239579934, + -0.13553962546205897, + 0.8600000000000001, + 0.949250305801634, + 0.0, + 0.0, + 0.31452163190391874, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "1d88573bfdf91d4fd11f231a1816e2ff1950d26b1cda0ce9b1d6a0449f064d42" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 122.01683134399354 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e30fa8f243c095285bf977de6696f12b44281f07 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "b7841bd2d5aceb38d486b261b08169cae5220806679f9b0b299688584add2257", + "size_bytes": 1371476 + }, + "trajectory.h5": { + "sha256": "9142b056bd0a621dd9b227865dff994d2ec6ce05154b2542a1120b5a9e948bdd", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "5a287da862854d2ac490f80f19bea4054a66c3d562692b1620e01f17e554e717", + "size_bytes": 69368 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1371476, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..15e5135203c3d601af4797a6256487c1a7a8af2e --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7841bd2d5aceb38d486b261b08169cae5220806679f9b0b299688584add2257 +size 1371476 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..403e153f29fb2bb0919d7b0a4e074ef08f9ad062 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9142b056bd0a621dd9b227865dff994d2ec6ce05154b2542a1120b5a9e948bdd +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..e48685a98070ab8ac2f09c26e8148d69da63c685 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1227353869, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "syem9z", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_198_t0__syem9z", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_198", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_198_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1227353869, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_198_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_198_t0__syem9z" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_198", + "initial_condition_id": "demo_198", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_198", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 32, + "reset_view_sha256": { + "agentview_image": "a45af9fc9c2cd2104e1002a2118c9ada00204dafac2922096e897b05865514ee", + "robot0_eye_in_hand_image": "8f8c5b37edb9b0c3b3513b993659ea6d306272d20352e0ad2653fbb48f17ca09" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.0029535534088506515, + 0.1748616884936501, + 0.02034440814596177, + -2.6221834775571518, + 0.0024359413248344268, + 2.948787723854914, + 0.804829836036982, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.14431674184370022, + -0.33758488749873317, + 0.8600000000000001, + 0.9253023745422869, + 0.0, + 0.0, + 0.3792301618626943, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "158bcbbbcbce2f48f8db3cd7ac244cd6f09f9218fbca873cdfb911f5acd52557" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.18730636034161 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..64dac6944b0f64a2b7f30d20e1db570a69e68894 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "dbd0b84ff882afeac33415cf481851aebf44c2eb1df857f1c8b88bd241d98719", + "size_bytes": 1429433 + }, + "trajectory.h5": { + "sha256": "e55ebf3cc96c753ac1d202fcb5d23323d274cced217b30798cb42ad119d76ece", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "177ca7092893e0aafa80e4bb47cf4cfe7a410e50b029987777bfb7301227ce12", + "size_bytes": 69358 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1429433, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f4202a422d3f4d970dea722ce02bc29ec087b88 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbd0b84ff882afeac33415cf481851aebf44c2eb1df857f1c8b88bd241d98719 +size 1429433 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..347c415d6815f7609bfd48e4e819610a32538f3e --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e55ebf3cc96c753ac1d202fcb5d23323d274cced217b30798cb42ad119d76ece +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..92f48103d201e9029d26490b38071248a48bbc0e --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1286068968, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "ln1a0x", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_35_t0__ln1a0x", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_35", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_35_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1286068968, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_35_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_35_t0__ln1a0x" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_35", + "initial_condition_id": "demo_35", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_35", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 45, + "reset_view_sha256": { + "agentview_image": "d952a2dda1bbfb0858e9d9fab62c7d2f77d1f95279cf74ee962522a0f7fca111", + "robot0_eye_in_hand_image": "863f5c7816065865ed70f0d4522b9b5127e999bb34a8bffa587ba8efd4dd0916" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.003337784121168899, + 0.18004989696361956, + 0.01962787068908291, + -2.60700927086605, + -0.007736295440869641, + 2.934039120992228, + 0.775479876075152, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.09442744702757445, + -0.2985310542895654, + 0.8600000000000001, + 0.056245267588127444, + 0.0, + 0.0, + 0.9984169819639187, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "5aa595627dde86ccf93408c0efe1dd9dd51bb47dabc389184fbfe62377effcad" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.15542936883867 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4a3130d0c007708108e68f82e580f46c8888994d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "4f1424b7e8ab517a4a03b94b6586867507a58f2f944e0df62c5275430cd9def1", + "size_bytes": 1158023 + }, + "trajectory.h5": { + "sha256": "f5f49bf1395495a96670e22d70d05715ef3876cf75e45d6f1719ca3865c61316", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "e061bad3e76099715b2ae2692da7cf398ff66f81513391869ff6ff62c4a9ed0d", + "size_bytes": 69363 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1158023, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..84ad9ff60197aef7ea432a40df5b506fabc7e11d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f1424b7e8ab517a4a03b94b6586867507a58f2f944e0df62c5275430cd9def1 +size 1158023 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bed3119ed67ccd783dbdd4801b413cb96fbc0bb --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5f49bf1395495a96670e22d70d05715ef3876cf75e45d6f1719ca3865c61316 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..f2205c5f06468c6b427bc21fe694baf92318aa36 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 891751706, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "z80puv", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_39_t0__z80puv", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_39", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_39_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 891751706, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_39_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_39_t0__z80puv" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_39", + "initial_condition_id": "demo_39", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_39", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 25, + "reset_view_sha256": { + "agentview_image": "193fb1bc20586ff7c3fd7c9228a679ceb544ca42cfbafac2a171f05ec3877d56", + "robot0_eye_in_hand_image": "432f03f69148293582422a5264ecee787905a33569b001400788bd24ddd8b076" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.009269086247223874, + 0.19264049140961892, + -0.015540624103677717, + -2.6488080664997535, + 0.001178013898461391, + 2.9086207508168336, + 0.7913668409513862, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.05460564679300406, + -0.35422492636704417, + 0.8600000000000001, + -0.055048115397295885, + 0.0, + 0.0, + 0.9984837029171814, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "85db8865f912fa6965668cdca0bf387947e6f6044e2109438c53ab7d9cdb1e67" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.61649187654257 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a20eaa653b655b04358c8c0e4176f725214b8dda --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "53670ff7690d9d5592c7a62d098a4b949ea30139a7a090390294e1bb733f8e83", + "size_bytes": 1301877 + }, + "trajectory.h5": { + "sha256": "724275272e8f0373c63ee862b39482d2e055694b8464f3fadc79337e6172d5ce", + "size_bytes": 148632 + }, + "trajectory.json": { + "sha256": "8777942f383bc1613acfdef58287a4875ddb2c63a33f4107b6b4baee7d45869c", + "size_bytes": 69351 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1301877, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b50cc4a0b868353eb962517aaad1d11e3bed24d6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53670ff7690d9d5592c7a62d098a4b949ea30139a7a090390294e1bb733f8e83 +size 1301877 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0095725c8c97b33a3bc2bf20336dd79fd9632e0 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:724275272e8f0373c63ee862b39482d2e055694b8464f3fadc79337e6172d5ce +size 148632 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..f3532bc7f32649a9157b7b286e40fd14bb564da3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3839192813, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "qrmx86", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_5_t0__qrmx86", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_5", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_5_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3839192813, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_5_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_5_t0__qrmx86" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_5", + "initial_condition_id": "demo_5", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_5", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 37, + "reset_view_sha256": { + "agentview_image": "99d33a653e7aa06284f68b7ec360e287ddff0d1e2c2f3c19d78a24049204eb1a", + "robot0_eye_in_hand_image": "910d0fb06538b9cf63501261b07eaf59efe9b5ac405570726c96568958be979c" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.04261285285736039, + 0.1528698635085623, + -0.002811232531886534, + -2.6268329939360036, + 0.002968439699374563, + 2.91641352593375, + 0.7648923206542224, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + -0.01880106555906369, + -0.4007441592534851, + 0.8600000000000001, + 0.9964982479864368, + 0.0, + 0.0, + 0.08361364577604669, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "abe1659c24cd4296e308821e55192c0ee46dedd0c6059bb30d1a0979610fc798" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.86684458237141 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b8d27cd6c3f0467af089e85331697d79beba596b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "688bab05b6a4a1fb99dc420519386da4b6d4693dd933a8d764aa4c1eb15a6ea8", + "size_bytes": 1378626 + }, + "trajectory.h5": { + "sha256": "d2f6ab3ed58c2a67a7910cf50ebe3a376e031cef8166028476bd7a749817293e", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "3e8e50c5ecc45d81d630703fb50e7c2b56b3f9196d56889a739c084c55f5f2a0", + "size_bytes": 69361 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1378626, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9141f84b835cd7c45c6e68da7696ae5ca047d5d6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:688bab05b6a4a1fb99dc420519386da4b6d4693dd933a8d764aa4c1eb15a6ea8 +size 1378626 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e554a1c445aa1a0b70ba9031e52792b4f52667ed --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2f6ab3ed58c2a67a7910cf50ebe3a376e031cef8166028476bd7a749817293e +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..32a7c4f2d0dc20b41f18314120130fb0fa57f62f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3875270364, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "s5a0dl", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_54_t0__s5a0dl", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_54", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_54_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3875270364, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_54_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_54_t0__s5a0dl" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_54", + "initial_condition_id": "demo_54", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_54", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 18, + "reset_view_sha256": { + "agentview_image": "0c1f0395aeeaf9b47be612afd9f346e1a6dadfb469bf331b72e90a654d181cdb", + "robot0_eye_in_hand_image": "913f7daabe3bd9f565603aa0adeebc0bb030fabedc79f9a0a140518a337c9a3b" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.015919008863744536, + 0.17890592468121627, + 0.05013914104009131, + -2.5996461126775454, + -0.008670908916302665, + 2.928178192105551, + 0.7759607797620088, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.06543618117833166, + -0.23683693608141815, + 0.8600000000000001, + 0.6557454673017661, + 0.0, + 0.0, + 0.7549820409209671, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "f433f03dc8b859ba9ecbf732951992bdae530d74cc04c470b9be294f1bdebabd" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.53555158805102 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..880da7d9b09b59b0ede0439530b37e43b4661ac6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "505493ed723d6f4ba1438fd7973aa89e9b921e3d40c53eacf1b00b78ec0d41a6", + "size_bytes": 1391047 + }, + "trajectory.h5": { + "sha256": "d97afe8ed7fb8393186a7f83693de7664cb853129221c68c68385ca560e7b734", + "size_bytes": 148632 + }, + "trajectory.json": { + "sha256": "98dffb88e839a946d50d3302d8b39be56349b3963855e215a55f5ec67a655d01", + "size_bytes": 69353 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1391047, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e2c449a3134622b7fc7f49a916ae4ed244592b71 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:505493ed723d6f4ba1438fd7973aa89e9b921e3d40c53eacf1b00b78ec0d41a6 +size 1391047 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3f676656d2658ccf49abc2c4585602253cd6c09 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d97afe8ed7fb8393186a7f83693de7664cb853129221c68c68385ca560e7b734 +size 148632 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..eb38cf49567daff1a177cad58996484db80405d3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 291584133, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "xzchik", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_6_t0__xzchik", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_6", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_6_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 291584133, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_6_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_6_t0__xzchik" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_6", + "initial_condition_id": "demo_6", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_6", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 1, + "reset_view_sha256": { + "agentview_image": "2a4812ce25f3fcb3e37c13a726cb9ceb0e76ba79ab7de77c216bc8e0c53df9f7", + "robot0_eye_in_hand_image": "8e9dda4ae87e65cd29ad4f06c81760ff6727596ab2194abd5aac04eebb36cc69" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.0178718836559477, + 0.22885932097706618, + -0.003422182223022458, + -2.5818753579274927, + 0.003310397046020003, + 2.914721952787825, + 0.766166878270166, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + -0.0014654603577080177, + -0.33268007596317134, + 0.8600000000000001, + -0.25774277425687453, + 0.0, + 0.0, + 0.9662135697237799, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "6dff35d6e378b4dbcf0e6a954e5664e3b8e146a36dd2cf0ace762ffa4ca7089b" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.73190798796713 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..fb644aa8905db2e4bc5753ed902fb5568316e0ce --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "cf0665bcc8820ef9a2aefbd01d2e8e683c6e9a937f9525f75820854b6217f6c3", + "size_bytes": 1677302 + }, + "trajectory.h5": { + "sha256": "c354e7c845f389ad309d0fb3481ae1132047015ebc70a3642604c0b85b9e7422", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "a16b0a8f37ade914b92ade9593392176cbbb4fdc07f22333fbdbe8c4f41ea541", + "size_bytes": 69358 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1677302, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4f01bca8b91e7f30e94734e3b426be93f2f0fe76 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf0665bcc8820ef9a2aefbd01d2e8e683c6e9a937f9525f75820854b6217f6c3 +size 1677302 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15d8c56dcb17197121d0147391d639ff36c90c23 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c354e7c845f389ad309d0fb3481ae1132047015ebc70a3642604c0b85b9e7422 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..80be03ee1fdb578a01b2b532c4ba2359de869691 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3913192538, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "3glrsf", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_60_t0__3glrsf", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_60", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_60_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3913192538, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_60_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_60_t0__3glrsf" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_60", + "initial_condition_id": "demo_60", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_60", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 35, + "reset_view_sha256": { + "agentview_image": "60b1910a57c8ffda05763d03bd2a197135e94e127c5144a4c60600dff11b5877", + "robot0_eye_in_hand_image": "f16373ddd0b4b281886b0830c77e7e559afdec1d67750ff8d6c6be4414d1bc15" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.024999292212752062, + 0.2275403968656092, + 0.011783332051231457, + -2.6140844112507065, + 0.012986952618527576, + 2.930682156416472, + 0.8211138154813175, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.1326185382588367, + -0.22735001154556528, + 0.8600000000000001, + 0.9086537468069273, + 0.0, + 0.0, + 0.4175504381673338, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "706f46b21faef2f5cba365f85af00182bfb0f7c46a6f0c317e51181501559240" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 120.93210976943374 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a317349e2d360372e0046c54396155a3d4e08b86 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "1461419c19e6271eb6aeb8ebc5e0a9ec7222dba8b19dc62460a068c6fb86045b", + "size_bytes": 1208749 + }, + "trajectory.h5": { + "sha256": "73252cccd738d4bb0f7a859dfaf30bcf4b164019a176c4499670f460a8403894", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "6bf43a01dc59d366c5524794264ca6b2eea3a12e8047d2bcb3e36ce1f68bb74a", + "size_bytes": 69361 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1208749, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..765c131f755822e7a0c5c866e934ad233656468a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1461419c19e6271eb6aeb8ebc5e0a9ec7222dba8b19dc62460a068c6fb86045b +size 1208749 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ad7daf66fff950086bd1ec3bafdaa9d3d273281 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73252cccd738d4bb0f7a859dfaf30bcf4b164019a176c4499670f460a8403894 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..aee8a4ae31e5c23fd5575a36d273793e876c4a98 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2879179993, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "s33uph", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_65_t0__s33uph", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_65", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_65_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2879179993, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_65_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_65_t0__s33uph" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_65", + "initial_condition_id": "demo_65", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_65", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 4, + "reset_view_sha256": { + "agentview_image": "765aeca5e6e185afd724d7aab53b0f259674fb469a298bdded4d337e56b42de2", + "robot0_eye_in_hand_image": "5beb2e26f895e03c93441d0b08b535ca4830b32935ffe04612bc617b9e356ec2" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.024674733249365068, + 0.18872887047533063, + -0.02112882271229742, + -2.6301823180879316, + -0.02510857584098288, + 2.9328726245199244, + 0.8315463054568303, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.15632186236135015, + -0.22726328125855721, + 0.8600000000000001, + 0.20671426592305103, + 0.0, + 0.0, + 0.9784013554078378, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "1cd5e84308684c020523b3307cb5164be7cbae5044fc366d605aff9f7e852804" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 122.00814500451088 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d59eb32486590b95fab9d45c353552fcbf9d7ecb --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "cdd623da027919f9ce666968774c4856b3b68b0dfa0ab4dad0eb16be8ed46846", + "size_bytes": 1299366 + }, + "trajectory.h5": { + "sha256": "d1b31ac79b6822e56638a81031c1abaf42608ddb4eb33cecb832d09cfcfaf9aa", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "5c4c4c4310095dc42878a375c6e532b81c9675226b2570837da25ac01b19019d", + "size_bytes": 69360 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1299366, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb4c3810512d4f5847d24646ba68bef989fa63b7 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdd623da027919f9ce666968774c4856b3b68b0dfa0ab4dad0eb16be8ed46846 +size 1299366 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..911b5e8fcd71998a471728541d18a9b35b3f7dd0 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1b31ac79b6822e56638a81031c1abaf42608ddb4eb33cecb832d09cfcfaf9aa +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..3d803f15990e82fb39947362edf911889cc8e1f5 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1149010733, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "is8wzj", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_68_t0__is8wzj", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_68", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_68_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1149010733, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_68_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_68_t0__is8wzj" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_68", + "initial_condition_id": "demo_68", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_68", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 30, + "reset_view_sha256": { + "agentview_image": "83cd6907e03b1f0fbf1a8ecb52c22d1780116f3ee6a6a11b0926a72ef31269df", + "robot0_eye_in_hand_image": "d4ffec73901e4dd35436ed103f6a00b76f460e5cd2e7cba80e56356b257de27a" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.01056610256915008, + 0.19311077415920502, + 0.0032081304512915194, + -2.623938664957998, + 0.013190875584976483, + 2.971526635282069, + 0.7814833995586257, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.17849293256862062, + -0.22895387174595194, + 0.8600000000000001, + -0.9255989342955442, + 0.0, + 0.0, + 0.3785057632731012, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "9bbbd6e3b3631d08ad04f12c8b8fe679f1873e90d2230f66f1b09f285056fb47" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 120.96156776789576 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5ccbcf988c6ababccc8913d49603df0a9808867b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "8b98443da35111411b770473de8dd7fc76479cc95ee749f5c65e0631465bb716", + "size_bytes": 1328184 + }, + "trajectory.h5": { + "sha256": "eaf2be66de8256ff2d06e5c667e69435cb50c8bb87a9a1135d7f1b713aedef2d", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "27a01a9a9fac865852ab5fe53c6fb4f0e17704bfa2ba6d857e8a47c988abd08a", + "size_bytes": 69357 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1328184, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7c89b7bfd56fbd6443829d453f128034765211dc --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b98443da35111411b770473de8dd7fc76479cc95ee749f5c65e0631465bb716 +size 1328184 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66555e461b9f16a9f3a2bea663b5e1621cd7673e --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaf2be66de8256ff2d06e5c667e69435cb50c8bb87a9a1135d7f1b713aedef2d +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..860c67b424bbdbc4e629d4769b247a50bf1fdbb3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1085055257, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "nrv19j", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_71_t0__nrv19j", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_71", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_71_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1085055257, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_71_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_71_t0__nrv19j" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_71", + "initial_condition_id": "demo_71", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_71", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 6, + "reset_view_sha256": { + "agentview_image": "0182df00bfab6b113107f541776068f45326a1bf8863f51822c9034c25027856", + "robot0_eye_in_hand_image": "9d65ab98d19b2b73e4341324cb79ec615addfe142680a58b54e62cf3020ec0eb" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.02256974876445846, + 0.1998364755952234, + -0.013539709723479332, + -2.6163535364463444, + 0.01168633828808779, + 2.903090298493372, + 0.8166344305893138, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.18206135591159728, + -0.2714150194709607, + 0.8600000000000001, + 0.1847123044963909, + 0.0, + 0.0, + 0.9827926355888268, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "92d5ee06ebcd18e9da83ae45d59c3cc89c0cb9d1dfc0537c4bc399657d2772c8" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.56419500801712 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ac1ea7fe1f5377e6269fc7da2f986b35fe2ebb6d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "a4eb2bb167657b28176c3aadef52a7da05775670fde505acb831e11b11f28f8a", + "size_bytes": 1425059 + }, + "trajectory.h5": { + "sha256": "ff9c42728a65dd781b4356a1d82347054c54cba99d4dcc5452e9d0e1b2023461", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "c2c4e62f28a7a879f0a0d696fbeced3a9a8d2f44d3b4a7ef67e569f6b9350c40", + "size_bytes": 69360 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1425059, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c82624c1ead3128ff1ca7cb10bea71b5adecad00 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4eb2bb167657b28176c3aadef52a7da05775670fde505acb831e11b11f28f8a +size 1425059 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..668ca500baf5a2cf8f70759549209e5f31d44123 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff9c42728a65dd781b4356a1d82347054c54cba99d4dcc5452e9d0e1b2023461 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..9b73a3c7380754984fee8b078721da5c9f44bbce --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 437476448, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "o9gjg7", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_72_t0__o9gjg7", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_72", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_72_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 437476448, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_72_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_72_t0__o9gjg7" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_72", + "initial_condition_id": "demo_72", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_72", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 15, + "reset_view_sha256": { + "agentview_image": "a5214d9fea61b283cf6564574343438a0336f5721a6225c7d9deb404bee20b82", + "robot0_eye_in_hand_image": "373fbce67b5502e9c6e51e8045f231337161e06af7a7ca847c2f8935adc75937" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.004089919279296879, + 0.21203177193479866, + 0.006893947554331388, + -2.633689234830215, + -0.0034866276737858847, + 2.959293011873268, + 0.8067021825100658, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.08485314302668553, + -0.25244378371025655, + 0.8600000000000001, + -0.31034463215597874, + 0.0, + 0.0, + 0.950624115669264, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "3fa1e68e7d2a3040d1016176fca4eca8b2dd487607b8a4bc554053aff5daae14" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.2560460511595 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..41601f578277d6b2f293f66b440228afa95833ca --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "11821cba90a7886be1ec240a92e536cc835730d98dd9d6b939858f3bfcec4401", + "size_bytes": 1127158 + }, + "trajectory.h5": { + "sha256": "879c942ae62ac769b54fd3f67c1c6f6a069e49093604c0518200e0d30a5175de", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "8e0f20eeaf411e5ba2d8007815454b18681ee51833b8a1bd8288718013c43b2d", + "size_bytes": 69362 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1127158, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..604ddb3ccfbddfafd2e8bbc8a47118b313b433ee --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11821cba90a7886be1ec240a92e536cc835730d98dd9d6b939858f3bfcec4401 +size 1127158 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6af0fc2795f6594ae541bfb11d01d6cc538df8ab --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:879c942ae62ac769b54fd3f67c1c6f6a069e49093604c0518200e0d30a5175de +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..64e458d1325d67aa270fc1bf8d4d99c7a26a277d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2730193250, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "9lehpe", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_80_t0__9lehpe", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_80", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_80_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2730193250, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_80_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_80_t0__9lehpe" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_80", + "initial_condition_id": "demo_80", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_80", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 39, + "reset_view_sha256": { + "agentview_image": "748842018dce71d975ec676a1934967d5c62aa5f76159242674d215e32315031", + "robot0_eye_in_hand_image": "aedc0370cfb2e812be58bb44a973f026cb4c8c896d5cda2771b2636e2e20855f" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.014436179253721601, + 0.20310795972806509, + -0.003463166614302546, + -2.6197150404331637, + -0.014592482630411005, + 2.920239605672363, + 0.7960316672960119, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.15834746881742218, + -0.2013868808312502, + 0.8600000000000001, + 0.2032334487029318, + 0.0, + 0.0, + 0.9791303106983834, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "0d7b65328962b9f50c2fbae2877e6f098724b95bc0cef458951a973452becdfc" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 122.32993438001722 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..13c95cbd5e4cd6fb43aad7a427a2755d397042dc --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "f463e297cf2c490289688d4b37b70a7602a7f2548b5d5503c4748bb34ab8ca6a", + "size_bytes": 1452062 + }, + "trajectory.h5": { + "sha256": "345bc6cbca3986c29477ffad2ba89ea35ad676e20514801fd08c32f7e6ec980c", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "f78d9582e2c09708635780723627a61577f319d452e7cd21c8cc449dad92cec2", + "size_bytes": 69361 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1452062, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c2b47fbbfca11a08e88db57cededead22596a99 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f463e297cf2c490289688d4b37b70a7602a7f2548b5d5503c4748bb34ab8ca6a +size 1452062 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8871b2c3b67aa4b27e15ceaecdb1567bd8fdc4dd --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:345bc6cbca3986c29477ffad2ba89ea35ad676e20514801fd08c32f7e6ec980c +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..6091507ae63e9dfbf4e925f9cb82f15f7ae309b3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 3275797414, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "kzhrnz", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_83_t0__kzhrnz", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_83", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_83_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 3275797414, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_83_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_83_t0__kzhrnz" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_83", + "initial_condition_id": "demo_83", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_83", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 46, + "reset_view_sha256": { + "agentview_image": "c6b3e43ff9b6c721192ef45437e455dfad1f12b40f77673ee59e5b20bff1c119", + "robot0_eye_in_hand_image": "c9d520ac7de8abc59a500b9524c209b219a850b5b92d1ae5734ecda22922eff3" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.019593702927837933, + 0.15421664807753088, + 0.021091105200504494, + -2.6541190577028875, + 0.005347114016042094, + 2.937441599913019, + 0.7997304992759741, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.03603758437748944, + -0.21477085561016407, + 0.8600000000000001, + 0.9939476045281647, + 0.0, + 0.0, + 0.10985517490188412, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "0939bd67af9eac9fcee90d4381664392c0af7cc91838e7394d5358950561356e" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.55824234243482 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba9dd74480afcf251e33f9b05861ac5bcc8a36f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "8c24e903265ce7d2c4bd42c57761db14ac26c4e04681a458fd6bb2758b06f54a", + "size_bytes": 1615599 + }, + "trajectory.h5": { + "sha256": "da5e30645fb54fff081f475e192b55f360dd599c90f5b67dd5389496b43979c8", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "e23383682517384f9e6a5816e89bdb54cbe16fb9329a7fc3e13ce2231490a778", + "size_bytes": 69363 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1615599, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dae4ae197cbb812a545cb364fccb2337b952ed9d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c24e903265ce7d2c4bd42c57761db14ac26c4e04681a458fd6bb2758b06f54a +size 1615599 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b35270404c87db835a8422694b2c89c728f20dd7 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da5e30645fb54fff081f475e192b55f360dd599c90f5b67dd5389496b43979c8 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..fc1dbeda1c6864ed45107e2d9f73f54417048f70 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1633443189, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "2pihih", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_84_t0__2pihih", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_84", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_84_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1633443189, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_84_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_84_t0__2pihih" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_84", + "initial_condition_id": "demo_84", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_84", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 49, + "reset_view_sha256": { + "agentview_image": "0d4c7bdba02cc991380053794b80af225f176f7b57b96be488ed7cdba5a248d3", + "robot0_eye_in_hand_image": "33572ace23cf7fbd810e53b2d94ae8e356d8bf6df0c90aa48712257b01e0e985" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.02103661471172683, + 0.18453301610243802, + -0.0064643692097650085, + -2.5790793752725527, + 0.024936250612541663, + 2.914042514298461, + 0.7961502238281318, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + -0.012642919425421867, + -0.2408210362924312, + 0.8600000000000001, + -0.9398646766537345, + 0.0, + 0.0, + 0.3415470532424063, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "7740d9ff58f2cb07d4c7da5538521331962890530eeff2f3d55793df97fa4385" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.72854112368077 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..afdc37eb683564d336f5ac4dfa48e77061bdc879 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "35cb1efc633155ae351786ee4a8044dd2547aa7e4fe89349c814dea2a3da13e3", + "size_bytes": 1191031 + }, + "trajectory.h5": { + "sha256": "4014360d16f71c944be81b5286b60bbd4b947d8690b8ab639968d2bc3a2eaae2", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "7a63bea1286825df3209e01dc516513ca8465d176e8c619da885c03b84a8e4ee", + "size_bytes": 69362 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1191031, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..67a3cc6eec1ec4d92f2c4b849e7f55f61239b7ef --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35cb1efc633155ae351786ee4a8044dd2547aa7e4fe89349c814dea2a3da13e3 +size 1191031 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..343d25562859bfba75523f52588f26c6925e551a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4014360d16f71c944be81b5286b60bbd4b947d8690b8ab639968d2bc3a2eaae2 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..f5508627b1b64e1e2fc0636bcdac8f41c0dab50c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1928207981, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "ud5tuc", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_89_t0__ud5tuc", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_89", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_89_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1928207981, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_89_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_89_t0__ud5tuc" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_89", + "initial_condition_id": "demo_89", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_89", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 41, + "reset_view_sha256": { + "agentview_image": "80a58458fd73d99549ff8f372c22556c863c498449500d4af1f25ca2d43ef673", + "robot0_eye_in_hand_image": "180d5ff89b92cae7588d1c232c8d14648446187c9bed5ebadc3b0ea9f0bb7e48" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.00029990747203405196, + 0.19147868133296483, + 0.043745657638438774, + -2.6384578385829505, + -0.019531585042014972, + 2.9002643424062837, + 0.7813110988359931, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.12330826462745476, + -0.2558423173012768, + 0.8600000000000001, + 0.4951424591462902, + 0.0, + 0.0, + 0.8688118007661754, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "cf4e37a6a5096b65e0394ad0250db9b040a71af074cbd970bdeb6d6aa2ccc395" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.7283123685047 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f41be59c303c76dcae0c554e29fdb4ebc661b2 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "c945de363def7317e6282c3e31515defa014b20bc594e7eb79a6d4d75fd5ee8a", + "size_bytes": 1420366 + }, + "trajectory.h5": { + "sha256": "31525f253f7cadc946d99129fe1915b06a52616ce87a826abd74ef12926a56c8", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "32b3ec1233ac0ce0f4277a61dece3f9be7d917d2e6606f0f820bbf65918493b6", + "size_bytes": 69357 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1420366, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6aadf20794f70217f236f32a737f77f2feef3bb6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c945de363def7317e6282c3e31515defa014b20bc594e7eb79a6d4d75fd5ee8a +size 1420366 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff45a31eff878ec1001c47eb1ea2df10c9f8b593 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31525f253f7cadc946d99129fe1915b06a52616ce87a826abd74ef12926a56c8 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..a96e72999c58974299731b419d520a7dcaf8bde2 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 514557513, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "1hzh8l", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_90_t0__1hzh8l", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_90", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_90_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 514557513, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_90_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_90_t0__1hzh8l" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_90", + "initial_condition_id": "demo_90", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_90", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 3, + "reset_view_sha256": { + "agentview_image": "2f0e637a9c5188b1aee3ff1752d52c11b964fd96b9c46b8a73372e9bbe96cfc8", + "robot0_eye_in_hand_image": "b18bd12587c94d13b9f88bada2684c4e7485156b730637451c28930b7b9e0c9f" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.010631155956685128, + 0.21696849082231, + 0.006797862748179236, + -2.6172981970772784, + 0.007830137831107108, + 2.9562466401196237, + 0.7828634029974066, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.16832968381977984, + -0.4102338351875604, + 0.8600000000000001, + -0.9805010206745324, + 0.0, + 0.0, + 0.19651399048464793, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "528f930b0933d0530b7ab9f66df99e217c3824dadee6834beb98820865e0c385" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.16373069677502 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2091006dfe1631cda3c188980fabecb69a624d79 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "4668fcae3aac33e8d3d9f1951286589dc81a5aaebaf2b0daab8475ba258200eb", + "size_bytes": 1321701 + }, + "trajectory.h5": { + "sha256": "a02e2b17e808adb2938d90b29ef9ee1771fa958d0c5a0fc9c897b2206d4a6696", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "9b7e10e3c2666789d3988446747fcc4de286c3737cc60e98b5c3bd50e0042caa", + "size_bytes": 69359 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1321701, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..520b06f86ee0a5a298c74a95f736c0c1d2395f88 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4668fcae3aac33e8d3d9f1951286589dc81a5aaebaf2b0daab8475ba258200eb +size 1321701 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..befb0c4cfa76ef7a0c27d19fb50577ac05cbcb13 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a02e2b17e808adb2938d90b29ef9ee1771fa958d0c5a0fc9c897b2206d4a6696 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..e774e43847109bdea2fec5fddb2ff7d86455c467 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 181965383, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "43hgbq", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_91_t0__43hgbq", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_91", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_91_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 181965383, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_91_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_91_t0__43hgbq" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_91", + "initial_condition_id": "demo_91", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_91", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 11, + "reset_view_sha256": { + "agentview_image": "a80ae95e041dc4b4dcd2b3c4b7e38bbc134d40e774f0706c09cbe0ed3f740086", + "robot0_eye_in_hand_image": "ecab2dd9e0570a6cd64bb9c788c5e05ba1cb76e44c806b083ed115974a514503" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.005352357292438404, + 0.1981805906437339, + 0.015286407956707536, + -2.6038125021915537, + 0.03435273635261684, + 2.9293594963848797, + 0.7703061682756737, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.19530384886647387, + -0.23604644471021993, + 0.8600000000000001, + 0.9845965771148864, + 0.0, + 0.0, + 0.17484158639651415, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "0f6ad811c62e43fce011732e4fd69d492f056c2455fd34ccafc68f02a9f4132a" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.58339554537088 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e3535452f597185df3f518e911d6da450c2b4ea6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "8574480bd92b6588b0c5a51a5cc6bcbf13a083a0663117c347edea67e6f8de62", + "size_bytes": 1947045 + }, + "trajectory.h5": { + "sha256": "ad85572e83357890042f5017821b453623e6810b4cb48858ce78fa175b052254", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "2bf9f046643b40881a39dbd735a70e1d2602cd0abae61198ca6e8bae8e0cc306", + "size_bytes": 69358 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1947045, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ccdd719ebbe50730f3014333844872e16f46b1b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8574480bd92b6588b0c5a51a5cc6bcbf13a083a0663117c347edea67e6f8de62 +size 1947045 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..423d2c3956d6d3b66a30ad92350e40b249845083 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad85572e83357890042f5017821b453623e6810b4cb48858ce78fa175b052254 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..a262b24afc4941a79423e2d1319bf3034898742a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1159230114, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "h3pwm6", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_92_t0__h3pwm6", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_92", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_92_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1159230114, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_92_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_92_t0__h3pwm6" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_92", + "initial_condition_id": "demo_92", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_92", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 10, + "reset_view_sha256": { + "agentview_image": "484dbc7c6390723aed46f440351546e083c07d6429dd613da443ab68d3f12408", + "robot0_eye_in_hand_image": "c9b97ab62b5b6d61ef5f0df615740458ed0e0123ad0f6c27cccc39a10219ddf5" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.014121802010949543, + 0.21443148118170074, + 0.0099166307563148, + -2.5545608132961983, + 0.017628141064324823, + 2.9379768460388087, + 0.8076804823171134, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.06438426255976241, + -0.23045364935859144, + 0.8600000000000001, + 0.755452680890854, + 0.0, + 0.0, + 0.6552032104124806, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "c619cfaa760e4d6fc473c5ee4e38d91d82ae02286dc1c07ec4c0b27d7f80c1c2" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.47005232609808 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3f3807a641063eb9959010b17eb71e998e8bde45 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "e215625e620a654ed08b76f4eab224f1cdcd1e73c4a5b68f1011eb1fd07895e3", + "size_bytes": 1415695 + }, + "trajectory.h5": { + "sha256": "67a624ae23df82085d6f1d039b923531b3a890e16fc0aa726fb844dd389d40c6", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "a95e670dffbde6ab3f76447f583a1090997307099a47b211adad36272735d41a", + "size_bytes": 69361 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1415695, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..549b131faf68dbba58e6dadfa4b6a8940b691c8f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e215625e620a654ed08b76f4eab224f1cdcd1e73c4a5b68f1011eb1fd07895e3 +size 1415695 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b00500dbd0ee9c517f73ed2b86f2c03e1e66a1ce --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67a624ae23df82085d6f1d039b923531b3a890e16fc0aa726fb844dd389d40c6 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..1e2ea2978671c252910f3b078a5d0f38a400935d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2845308137, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "9ytpo5", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00/demo_99_t0__9ytpo5", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_99", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_99_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2845308137, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_99_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_99_t0__9ytpo5" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_99", + "initial_condition_id": "demo_99", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_99", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 31, + "reset_view_sha256": { + "agentview_image": "cd098b0c7ad2a44be39ec5130dad83ada8dee2b55a918e537fce12f6c1db23dc", + "robot0_eye_in_hand_image": "4fbbc6f5cbdcc909399673a2e213e3a84c3dce4f8eb72f899c09cbb3a74ffcf3" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.0023972666242185977, + 0.20343699886806466, + 0.009749570276189617, + -2.6147004829417075, + 0.003956928159192434, + 2.9747556605243526, + 0.787279362018188, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.1990297150263082, + -0.2542738492070131, + 0.8600000000000001, + 0.9963592310219559, + 0.0, + 0.0, + 0.08525422427854694, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "f7269bb44f026fa42787573534add6e097f015f42b7feb14d9832866d3593ae4" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "checkpoint_sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_10.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch10_successrate0.0000_n50_tmax500_tminNA_tavg500.00.pth", + "sha256": "4e17b7a266c41f99b93db593c3dd1e2cf866b5ba707a4c14ac1272252821565a" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.16976832132787 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..cf568187e667555390bad2996d193ae8a4d17558 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "10d6e8b6f6eb8f1c4f9a1726ed51adea2e5256da31e09994bdbea884f68f7379", + "size_bytes": 1081911 + }, + "trajectory.h5": { + "sha256": "ab7b5127c641b90014c02b8db7d249957f4a7c2445d3aba605e8df59ac915de4", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "fff6254e5be30d1dea7fc16e15a491d549e51eabd0ef0bb6a03fa591ca8348bb", + "size_bytes": 69356 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1081911, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..461f26f3bfe35a929c6890470157d598f5af9706 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10d6e8b6f6eb8f1c4f9a1726ed51adea2e5256da31e09994bdbea884f68f7379 +size 1081911 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..01c8a8b992033466baabfa406e3d4c103a550d00 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab7b5127c641b90014c02b8db7d249957f4a7c2445d3aba605e8df59ac915de4 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..9104fb74d8d970bf56745dc5c5abf77ac8251d81 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 4078649521, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "n3kekp", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_0_t0__n3kekp", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_0", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_0_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 4078649521, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_0_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_0_t0__n3kekp" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_0", + "initial_condition_id": "demo_0", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_0", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 23, + "reset_view_sha256": { + "agentview_image": "66800a2e8b044ec95192e84411fd648bc9046d5444c7e321447c819de8a939ea", + "robot0_eye_in_hand_image": "d7f5f532bf099278c46b3b6d09964b2faebdc1d50ba6aeab947c395a975504b7" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.057148905146216324, + 0.21409478553721212, + -0.0213125595846902, + -2.6419519570459262, + 0.0126615422511649, + 2.9136245964638965, + 0.7845676624721962, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.123724912698951, + -0.20150121318116285, + 0.8600000000000001, + -0.9759306309327495, + 0.0, + 0.0, + 0.21808118581667135, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "65de796d31dd1edff6aca76d0d7ba6df88559e291b0db74ef4f344a5f33d6ab2" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 124.6746863713488 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..68161eb45e3e65b45f9ddc7d9a8820471b1f3300 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "1adcd7b4cc1e09b116c0e0e9d8a61cc7cb7927d02f4a028b9155cf98ffdaf94f", + "size_bytes": 904433 + }, + "trajectory.h5": { + "sha256": "ef4f5672049f2b63291ea570899968c0e2788b0b7b4be5ee1a1dff4770c1ead2", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "b6fc80d062ada7dfb6a762ecf857e14fa2608c0308ccf5310f256e1cc7176fbd", + "size_bytes": 69365 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 904433, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41d74ceec80c8ff059dd232306171dcc3addac18 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1adcd7b4cc1e09b116c0e0e9d8a61cc7cb7927d02f4a028b9155cf98ffdaf94f +size 904433 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..da77ca447d6a676fba8b112f619f6c583495c882 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef4f5672049f2b63291ea570899968c0e2788b0b7b4be5ee1a1dff4770c1ead2 +size 148648 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..658548f0f2f1c6a0abee8ad8fbac2231fb96ebdb --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2216121921, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "ktwpvq", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_10_t0__ktwpvq", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_10", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_10_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2216121921, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_10_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_10_t0__ktwpvq" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_10", + "initial_condition_id": "demo_10", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_10", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 42, + "reset_view_sha256": { + "agentview_image": "8b5b4d46eafb1419949c5dee4990842714b5fda5e9d76d935962a96966b6b680", + "robot0_eye_in_hand_image": "fb450c85e519559b2e7aaf8ba23d331544f59e4f868556eff2128103d11ed2bd" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.027364734485073847, + 0.212815183559462, + 0.00865169248486525, + -2.6102107598196134, + 0.013744301139624071, + 2.9090112657048293, + 0.7837353132082294, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.09569653883325538, + -0.282536737133424, + 0.8600000000000001, + -0.9908953575637027, + 0.0, + 0.0, + 0.13463428374192696, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "8bd56d796b1fcf56c1803ca0a47562fea7d12ad63f5bc190a9cc0f9837b6c84c" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.35686668101698 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..26082d5d9f8354982c5bdbac425549e6265c2d69 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "37cd3cdef70f6cddeece7bafedf49a22fca2ce0c0b696cf2733667913ede2c6e", + "size_bytes": 1111878 + }, + "trajectory.h5": { + "sha256": "dad31357263cca9b7dc57be71cb449a5025a13f2e770d67cdf71ed1e38ec5dda", + "size_bytes": 148664 + }, + "trajectory.json": { + "sha256": "600ced8bae8281078bbab35a43f2b4fc74fa193359e9fe151dc1d42109fa72a8", + "size_bytes": 69374 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1111878, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7dbde467f4580b60eaee61617d3a75aacc6901b6 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37cd3cdef70f6cddeece7bafedf49a22fca2ce0c0b696cf2733667913ede2c6e +size 1111878 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..72d666fb735b6de6b2f724a36fbf019de229805c --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dad31357263cca9b7dc57be71cb449a5025a13f2e770d67cdf71ed1e38ec5dda +size 148664 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b897b8f2e9d01c785bff2d8aeade113d725f7b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 462492048, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "5fdtua", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_105_t0__5fdtua", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_105", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_105_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 462492048, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_105_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_105_t0__5fdtua" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_105", + "initial_condition_id": "demo_105", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_105", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 0, + "reset_view_sha256": { + "agentview_image": "a73d0b2d3a8442474b15daf8eab86a3a45cc296a17b65cd4704d9eb124cf7b28", + "robot0_eye_in_hand_image": "2d337ffcd188a70fb4327aa8299e34d9afec013adaf2c7ffb3a566e15ee4d8f0" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.00987442094093274, + 0.16746594562297312, + 0.017955846774289443, + -2.6195040247834496, + 0.026398552376706897, + 2.9027240001204198, + 0.7719144311781908, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.20066330173980917, + -0.41849203128014323, + 0.8600000000000001, + -0.6712161367044391, + 0.0, + 0.0, + 0.7412616932147296, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "79b84e72122e86e18c5b6146ecbd4da767e24771bc3980a4f7330743f3a31d45" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.92223305348307 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..08c14731add6690080d1f1f4c95dc251f4937c2a --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "77c2f7d99638f61fb0771800b1574cbdd324d21251c37ecfb078b92523d28fba", + "size_bytes": 519815 + }, + "trajectory.h5": { + "sha256": "cfde3ff6f035fff0de88055075fe745cce8bf35226f0037e4161167b1aa5d368", + "size_bytes": 52772 + }, + "trajectory.json": { + "sha256": "c24ab5cb97db55983c0202771f4218ea433dcb78ce54575f4898675e8643b152", + "size_bytes": 69362 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 519815, + "fps": 20.0, + "frame_count": 134, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c307cd022d0937fa2c22d0958a23d209a6a5f8b --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77c2f7d99638f61fb0771800b1574cbdd324d21251c37ecfb078b92523d28fba +size 519815 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc207291e505e15337b2096e5e3245fd1bd73e57 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfde3ff6f035fff0de88055075fe745cce8bf35226f0037e4161167b1aa5d368 +size 52772 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..a5a696d7e431f05268704b8697e631f598082739 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 134, + "decoded_images_persisted": false, + "episode_seed": 1262520644, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 134, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "nmi6c5", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_111_t0__nmi6c5", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_111", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_111_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1262520644, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_111_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_111_t0__nmi6c5" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 134, + "first_success_step": 134, + "first_success_timestep_simulator": 133, + "requested_horizon": 500, + "success_simulator_any_within_horizon": true, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "task_success", + "valid_horizon": 134 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_111", + "initial_condition_id": "demo_111", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_111", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 8, + "reset_view_sha256": { + "agentview_image": "8c3c9fad59ad0b63245d86c424790b168b545c513b71045d552bfb149e813886", + "robot0_eye_in_hand_image": "709140e00760b5a7cdd202cf2a41330ca6f5ac2fbd575be2729b0f441c307dcd" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.019108331291004012, + 0.20873380478800388, + 0.030802597853300633, + -2.5986236838504357, + -0.02323605412012226, + 2.9424213970684896, + 0.8108090861974767, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.16278263013008393, + -0.31308607635106545, + 0.8600000000000001, + -0.3255987117735001, + 0.0, + 0.0, + 0.9455080533191863, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "c11b3ffbd050cb02b190e527affbba5a3d64970f1bf3ea4ab8b7e297b32e0f28" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 33.26433321926743 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f1d82816acef88ee0659f50114cb2162226741 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "8e72c0f22a0c3ea9bb03063a7f916d9d97b65f1bba60442b7240070c15135ec4", + "size_bytes": 947688 + }, + "trajectory.h5": { + "sha256": "d4093666f2090b78285010c75239eafd41a959b245ceeb295d308216635f1318", + "size_bytes": 148664 + }, + "trajectory.json": { + "sha256": "32eaa31219e4afc76bf816fa3c1862a9a3ebf1599eca29705f7229bf8ed50409", + "size_bytes": 69379 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 947688, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62120347ac4f8a5f929bdc32879f36d71d1d1de5 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e72c0f22a0c3ea9bb03063a7f916d9d97b65f1bba60442b7240070c15135ec4 +size 947688 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc0dd3e5449886498c778aff7995986c1a1234f0 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4093666f2090b78285010c75239eafd41a959b245ceeb295d308216635f1318 +size 148664 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..c72c12e5ae03e9d9f0f6d288625018d7744139d9 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1751963067, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "x3cfhu", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_116_t0__x3cfhu", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_116", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_116_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1751963067, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_116_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_116_t0__x3cfhu" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_116", + "initial_condition_id": "demo_116", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_116", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 40, + "reset_view_sha256": { + "agentview_image": "0289cb4175804f4f336920bd7e169e608188b27a2d5a2f1c59ef78f64bc3fbc7", + "robot0_eye_in_hand_image": "7fda44e4c9bcca42df3661dccaec3420911b38e99f5aa651d3df9c287f98871f" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.008109796078715351, + 0.18134996610779014, + -0.0050121120684912856, + -2.6057303660716986, + -0.02504420330304886, + 2.9312675730388795, + 0.7471934508061948, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.05928694956473553, + -0.12839340778282096, + 0.8600000000000001, + -0.299355115697917, + 0.0, + 0.0, + 0.9541417686620195, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "6e3eb7116d11829c4c82755267967dc2c873f8bbc98945170d2ae2d176bdd376" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.14990164898336 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5e813550e0bc66935c0b5126a6eb0fbae159a9a3 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "6c6da0992ed1e37ddc13c9066afd7f37cc01a506adacdd04f4fb42c71f7512e7", + "size_bytes": 1403689 + }, + "trajectory.h5": { + "sha256": "d1b7fc9818d98c191409923797d3d1b2aab4f77df4bf8d67e9c99fba92ea69bd", + "size_bytes": 148664 + }, + "trajectory.json": { + "sha256": "849a5b0f8848aed9303ae71fe697c5d2ceaa6b2bb38511e48f0cca0a564d8e97", + "size_bytes": 69372 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1403689, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f30157e3de7422ab2bb51bcdbb284e03aba048f --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c6da0992ed1e37ddc13c9066afd7f37cc01a506adacdd04f4fb42c71f7512e7 +size 1403689 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..831fab6d8cf43505fc64d366b5eca98166a16b2d --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1b7fc9818d98c191409923797d3d1b2aab4f77df4bf8d67e9c99fba92ea69bd +size 148664 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..b18da924b9ce5388aa4e1ca05d9a2ea875370881 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 807187610, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "k0rma4", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_117_t0__k0rma4", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_117", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_117_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 807187610, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_117_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_117_t0__k0rma4" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_117", + "initial_condition_id": "demo_117", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_117", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 24, + "reset_view_sha256": { + "agentview_image": "337f78e8d28fafe17eef84aa0924a42f4883defaf523489954557fe775df8619", + "robot0_eye_in_hand_image": "267ef6aab65c85620e0db25bdec77b52abb6dd168a57c5b28529e3a83fb26bd7" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.009823836622981221, + 0.17720802916752382, + 0.011218065103677935, + -2.632780242252119, + 0.01831516571388879, + 2.9409607666614987, + 0.799502299324446, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.16169349808265113, + -0.39159728208434913, + 0.8600000000000001, + -0.9998196405606579, + 0.0, + 0.0, + 0.01899174423682546, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "ade061d7d1e609fc7d1a8d494d17ff561dede91e9957a5eb7ce3d973e18c48bc" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.8008345598355 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf9ad6e0a6eb5d81f082d05c2aab474077bdbb4 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "4a98be4cfebfea68974a2008211f57969e0ab47bdc174c1462167491fc4fdbe7", + "size_bytes": 866875 + }, + "trajectory.h5": { + "sha256": "5cbfe8499475be8e481fb3e0760ca9b8d13bf0234e985db15b9c7f86ca875b4e", + "size_bytes": 148664 + }, + "trajectory.json": { + "sha256": "6fc45b3ae3e1462803f510b633296556d7a8ca78a92ff56fec737edfa1483d7e", + "size_bytes": 69373 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 866875, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ddb8091fdbb29129c0c5376ba5586341ff934461 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a98be4cfebfea68974a2008211f57969e0ab47bdc174c1462167491fc4fdbe7 +size 866875 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..453aa7997a809ed1d1954b0ba86d6ad4bb771456 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cbfe8499475be8e481fb3e0760ca9b8d13bf0234e985db15b9c7f86ca875b4e +size 148664 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf7870d41f38ae8399271fbc88a9443f47d5b32 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 2619945426, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "7q7hfl", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_119_t0__7q7hfl", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_119", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_119_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 2619945426, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_119_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_119_t0__7q7hfl" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_119", + "initial_condition_id": "demo_119", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_119", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 29, + "reset_view_sha256": { + "agentview_image": "8e594225d23fa157018486d90ced8e02d5ef9fd8d5dbef4795b9497ca11c5700", + "robot0_eye_in_hand_image": "47a1d5a3203be03744d5d6631dd7b9f7cfdc3fc057c63242864ff27866fb9262" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + 0.016869261071455303, + 0.1706089048451454, + -0.042298055615458345, + -2.642772093539309, + 0.015640020405047948, + 2.921789506047071, + 0.7683436208578156, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.20057813188486492, + -0.2982014144863882, + 0.8600000000000001, + -0.9430540534485943, + 0.0, + 0.0, + 0.33263952301880184, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "6f4f496060893a57aef9d808fc3f35e3ab5f103785dd17836c28e7eda231b61e" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.149607880041 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c835359eb3f2db9f77e86627d0f87072c4da4e3e --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "8cecf5a21fa4b562c8a28f1a8f3c5beaa33116b61b2ae7e90e80112ace8b8577", + "size_bytes": 1143296 + }, + "trajectory.h5": { + "sha256": "75d2bb1e4f5604378bbc911759ec409369ef9c8128e2716a40ee3848b5efd1de", + "size_bytes": 148664 + }, + "trajectory.json": { + "sha256": "ab83c0527e8c2b66972f80a8f3d01863f85d61446119652bf7dcbe64b56cd333", + "size_bytes": 69374 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1143296, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..519f509773f8b597dc2510fefce897e48d5b9346 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cecf5a21fa4b562c8a28f1a8f3c5beaa33116b61b2ae7e90e80112ace8b8577 +size 1143296 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19f9abc3f5c6d47f3e70d87c5dc920e8798f7090 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75d2bb1e4f5604378bbc911759ec409369ef9c8128e2716a40ee3848b5efd1de +size 148664 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..51e95c7c8a7735dfbe114d2d752618196fb63675 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1877231091, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "19hi01", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_123_t0__19hi01", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_123", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_123_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1877231091, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_123_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_123_t0__19hi01" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_123", + "initial_condition_id": "demo_123", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_123", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 38, + "reset_view_sha256": { + "agentview_image": "6ce6a86e35fe2b7e4cb01072e54ddd31e44d7e8313ceb207d50023b89ab18d70", + "robot0_eye_in_hand_image": "ec195b3cccbdd56c401d1b7347e662071865e812d39003b7165e5a5d0427d495" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.044978373692511224, + 0.16801326191936708, + 0.00335791999749501, + -2.561431951259051, + 0.004988923487343779, + 2.929319290191885, + 0.7665699877996307, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.13758959920981342, + -0.40213440211304075, + 0.8600000000000001, + 0.21468118357649807, + 0.0, + 0.0, + 0.976684181001307, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "7f3cb686af9d6d46fbdce4f9b943602f0735f6a0dcc39b2c8fdf2ba08f35558e" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 120.74396923184395 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce4d3515c980894b920acccb5d42e64e3869637 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "e4f709c0182e1efa0ab7455b0ee33268406d0823e850622729526e5d5a6250b5", + "size_bytes": 1084597 + }, + "trajectory.h5": { + "sha256": "23dc14622eeabc9c4a627d73c9d3ede635ca5fcec43e172c1262602c678e3edd", + "size_bytes": 148664 + }, + "trajectory.json": { + "sha256": "de12d228f9d6938a4ff5876d5709fa3a03aa2681a50ed3096003d6d24a7e6270", + "size_bytes": 69375 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 1084597, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/rollout.mp4 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/rollout.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b8ec493f33e304b75d0ca1e4c8b1c814aa9e6c96 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/rollout.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4f709c0182e1efa0ab7455b0ee33268406d0823e850622729526e5d5a6250b5 +size 1084597 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/trajectory.h5 b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/trajectory.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d26593fe3f6762d1460e14692a54d3e9f553242 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/trajectory.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23dc14622eeabc9c4a627d73c9d3ede635ca5fcec43e172c1262602c678e3edd +size 148664 diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/trajectory.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..d79d192f723147e2a07336ce57c3567749166fac --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126/trajectory.json @@ -0,0 +1,587 @@ +{ + "action_count": 500, + "decoded_images_persisted": false, + "episode_seed": 1209199048, + "execution_protocol": "robomimic_native_success_terminating", + "frame_action_ownership": "frame_t_owns_action_t", + "frame_count": 500, + "frame_timing": "post_step", + "identity": { + "directory_metadata": { + "fingerprint.backend_id": "robomimic_sim", + "fingerprint.behavior_data.behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "fingerprint.dynamics.dynamics_id": "robomimic_sim__br5gzxzb1n", + "fingerprint.target_policy.target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20" + }, + "directory_prefix_fields": [ + "fingerprint.backend_id", + "fingerprint.dynamics.dynamics_id", + "fingerprint.behavior_data.behavior_data_id", + "fingerprint.target_policy.target_policy_id" + ], + "fingerprint_hash": "tk9vwy", + "id_key": "robomimic_sim/robomimic_sim__br5gzxzb1n/image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_126_t0__tk9vwy", + "metadata": { + "extras": { + "metadata_sources": { + "environment": "Robomimic behavior dataset env_args", + "initial_condition": "rollout initial_condition payload", + "policy": "OPEPolicy attributes and optional policy.metadata", + "shape_metadata": "wrapper checkpoint shape_metadata when present, otherwise dataset observation/action arrays" + } + }, + "fingerprint": { + "backend_id": "robomimic_sim", + "behavior_data": { + "behavior_data_id": "image_v15_success200_total200_84x84__all__uniform_without_replacement__seed0__0rbmyu", + "behavior_policy": { + "behavior_policy_id": "none", + "enabled": false + }, + "dataset_id": "image_v15_success200_total200_84x84", + "enabled": true, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all" + }, + "dynamics": { + "action_dim": 7, + "backend": "robomimic_sim", + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "dynamics_id": "robomimic_sim__br5gzxzb1n", + "env_config_hash": "jdz76lg1s3", + "execution_protocol": "robomimic_native_success_terminating", + "low_dim_keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "state_dim": 57, + "state_representation": "low_dim", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "environment": { + "dataset_id": "image_v15_success200_total200_84x84", + "dataset_path": "data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "env_metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "env_name": "PickPlaceCan", + "robosuite_version": "1.5.2", + "task": "PickPlaceCan", + "type": "robomimic", + "wrapper_checkpoint_id": null, + "wrapper_checkpoint_path": null + }, + "initial_condition": { + "data_split_digest": null, + "end_timestep": null, + "episode_id": "demo_126", + "initial_condition_source": null, + "inline_simulator_state_hash": null, + "label": "demo_126_t0", + "replay_state_ref": null, + "simulator_state_ref": null, + "start_timestep": 0 + }, + "policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + }, + "rollout": { + "action_space": "raw", + "execution_protocol": "robomimic_native_success_terminating", + "horizon": 500, + "method": "simulator", + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "representation": "low_dim", + "seed": 1209199048, + "seed_pairing": "paired_by_initial_condition", + "state_convention": "post_action_successor_observation", + "success_convention": "terminate_on_first_post_action_success", + "success_source": "robosuite_env.is_success.task", + "termination_convention": "terminate_on_first_success_fail_on_env_done" + }, + "target_policy": { + "action_output_space": "raw", + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "enabled": true, + "role": "target", + "target_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "type": "robomimic", + "wrapper": { + "action_dim": 7, + "action_output_space": "raw" + } + }, + "video": { + "codec": "libx264", + "output_fps": 20.0, + "render_height": 384, + "render_width": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ] + } + }, + "reporting": { + "fixed_horizon": true, + "initial_condition": { + "label": "demo_126_t0" + } + }, + "signals": { + "actions": { + "dimensions": [ + { + "name": "action", + "slice": [ + 0, + 7 + ] + } + ], + "space": "raw" + }, + "rendering": { + "decoded_images_persisted": false, + "height": 384, + "rgb_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "source": "robomimic_env_render", + "width": 384 + }, + "rewards": { + "native_source": "env.step", + "report_regimes_source": "src.eval_ope.rewards" + }, + "states": { + "dimensions": [ + { + "name": "object", + "slice": [ + 0, + 14 + ] + }, + { + "name": "robot0_eef_pos", + "slice": [ + 14, + 17 + ] + }, + { + "name": "robot0_eef_quat", + "slice": [ + 17, + 21 + ] + }, + { + "name": "robot0_eef_quat_site", + "slice": [ + 21, + 25 + ] + }, + { + "name": "robot0_gripper_qpos", + "slice": [ + 25, + 27 + ] + }, + { + "name": "robot0_gripper_qvel", + "slice": [ + 27, + 29 + ] + }, + { + "name": "robot0_joint_pos", + "slice": [ + 29, + 36 + ] + }, + { + "name": "robot0_joint_pos_cos", + "slice": [ + 36, + 43 + ] + }, + { + "name": "robot0_joint_pos_sin", + "slice": [ + 43, + 50 + ] + }, + { + "name": "robot0_joint_vel", + "slice": [ + 50, + 57 + ] + } + ], + "keys": [ + "object", + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_eef_quat_site", + "robot0_gripper_qpos", + "robot0_gripper_qvel", + "robot0_joint_pos", + "robot0_joint_pos_cos", + "robot0_joint_pos_sin", + "robot0_joint_vel" + ], + "representation": "low_dim", + "source": "robomimic_simulator_post_action_successor_observation" + } + } + }, + "metadata_version": 1, + "trajectory_id": "demo_126_t0__tk9vwy" + }, + "outcome": { + "configured_max_horizon": 500, + "effective_horizon": 500, + "first_success_step": null, + "first_success_timestep_simulator": null, + "requested_horizon": 500, + "success_simulator_any_within_horizon": false, + "success_source": "robosuite_env.is_success.task", + "terminal_reason": "configured_max_horizon", + "valid_horizon": 500 + }, + "policy_horizons": { + "action_horizon": 1, + "observation_horizon": 2, + "prediction_horizon": 16 + }, + "policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "provenance": { + "environment": { + "metadata": { + "env_kwargs": { + "camera_depths": false, + "camera_heights": 84, + "camera_names": [ + "agentview", + "robot0_eye_in_hand" + ], + "camera_widths": 84, + "control_freq": 20, + "controller_configs": { + "body_parts": { + "right": { + "control_delta": true, + "damping": 1, + "damping_limits": [ + 0, + 10 + ], + "gripper": { + "type": "GRIP" + }, + "impedance_mode": "fixed", + "input_max": 1, + "input_min": -1, + "input_ref_frame": "world", + "interpolation": null, + "kp": 150, + "kp_limits": [ + 0, + 300 + ], + "orientation_limits": null, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "position_limits": null, + "ramp_ratio": 0.2, + "type": "OSC_POSE", + "uncouple_pos_ori": true + } + }, + "type": "BASIC" + }, + "has_offscreen_renderer": true, + "has_renderer": false, + "ignore_done": true, + "lite_physics": false, + "render_gpu_device_id": 0, + "reward_shaping": false, + "robots": [ + "Panda" + ], + "use_camera_obs": true, + "use_object_obs": true + }, + "env_name": "PickPlaceCan", + "env_version": "1.5.2", + "type": 1 + }, + "robosuite_version": "1.5.2" + }, + "execution": { + "slurm_job_id": "5495221" + }, + "execution_policy_id": "model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20", + "initial_condition": { + "dataset_id": "image_v15_success200_total200_84x84", + "episode_id": "demo_126", + "initial_condition_id": "demo_126", + "pairing_key": { + "ep_meta": null, + "episode_id": "demo_126", + "model_file": "\n\n \n ", + "model_sha256": "38ab4b1c15e8d4c69f1bbe17382a1023eb77bebe0f415b1e9a949f45594055cf", + "ordered_index": 17, + "reset_view_sha256": { + "agentview_image": "84f38496fa5336070997cec607240737584431a1b6cea95c54219bd0b20d4895", + "robot0_eye_in_hand_image": "3f2fbb6949c7d5eb834c2c00edcd2805d4b9f2440a0c67cc564ecd157442583c" + }, + "reset_views_hdf5": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/ph_selection/initial_condition_views_384x384.hdf5", + "simulator_state": [ + 0.0, + -0.009989079893963129, + 0.15545359300415912, + -0.008998170639402066, + -2.6224538137074593, + 0.00502624524224541, + 2.929418418964454, + 0.7608145203802564, + 0.020833, + -0.020833, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 10.0, + 10.0, + 10.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.2010339448635623, + -0.18023503141334538, + 0.8600000000000001, + -0.995733257782208, + 0.0, + 0.0, + 0.09227827125835752, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "state_sha256": "3599e8405265db0eb211fbb03fed19705b1d5c558001039f3c7ced331feafad6" + }, + "seed": 0, + "selection_policy": "uniform_without_replacement", + "source_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "split": "all", + "start_timestep": 0 + }, + "initial_source": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84.hdf5", + "producer_manifest_path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/robomimic/can/ph/image_v15_success200_total200_84x84_manifest.json", + "producer_manifest_sha256": "f006fc2ecefa1d90823d9927597e4694e5062a7c9e63c5a9a7ec5dc40f27dc0b", + "sha256": "c5fc6bed0ee8ae8d08e480d380f5b99ec1878beea61be0b1263a296647b8239f" + }, + "runtime_source": { + "repository_commit": "27d0b870f37e35a30d36a65bde4e5b90aeddee35", + "repository_dirty": true + }, + "simulation_run_id": "ph_selection_can_n50_tmax500_s0__43888fba32b0", + "target_policy": { + "action_dim": 7, + "action_output_space": "raw", + "action_stats_identity": true, + "action_stats_present": true, + "checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_selector_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "checkpoint_sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319", + "grad_log_prob_input_space": "checkpoint_model_action_space", + "grad_log_prob_output_score_space": "checkpoint_model_action_score", + "metadata_source": "checkpoint_config_and_action_stats", + "policy_id": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "policy_type": "robomimic", + "resolved_checkpoint_path": "data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/intermediate/model_epoch_20.pth", + "train_action_config": { + "actions": { + "normalization": null + } + } + }, + "target_policy_checkpoint": { + "checkpoint_recorded_success_rate": null, + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/models/ph_selection_n50_tmax500/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20.pth", + "sha256": "3f3101f5b1b3c0c9b02569ef5c6541104af7b4af63fe3bf6769a99068f993319" + }, + "target_policy_experiment_config": { + "path": "/project2/tustephe_1449/kwang570/repos/wkt_sope/main/data/policy/robomimic-ph-visual-only/independent_encoder/can/seed_0/config.json", + "sha256": "279cfddd5a6c337beb9574bd7d2eb3213f9010fb42013ae47cd1510a0c993287" + } + }, + "schema_version": "published_sim_trajectory/v1", + "timing_seconds": { + "rollout": 121.8195944884792 + }, + "view_height": 384, + "view_layout": "width_concat", + "view_names": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "view_width": 384 +} diff --git a/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_13/artifact_manifest.json b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_13/artifact_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..764419a08739f5d7bd30bb7f2422f592bd194d48 --- /dev/null +++ b/policies/robomimic-ph-visual-only/can/rollouts/model_epoch20_successrate0.1200_n50_tmax500_tmin120_tavg459.20/demo_13/artifact_manifest.json @@ -0,0 +1,27 @@ +{ + "complete": true, + "files": { + "rollout.mp4": { + "sha256": "c96d618ca6ec827a1199c7c190250f043a202bac25a8be96b6123e89bbca9943", + "size_bytes": 429855 + }, + "trajectory.h5": { + "sha256": "cefd35f0f734ffbedee1b0a64e3e03babdc3ca03686034ab405934f638efbda3", + "size_bytes": 148648 + }, + "trajectory.json": { + "sha256": "52e17a9a2b51efa2b7380cdb2319ba0a53144722ee254f114d494c7087aec30d", + "size_bytes": 69367 + } + }, + "requested_codec": "libx264", + "schema_version": "published_sim_trajectory/v1", + "video": { + "codec": "h264", + "file_size_bytes": 429855, + "fps": 20.0, + "frame_count": 500, + "height": 384, + "width": 768 + } +}