| # UR5 Sim2Real: Data Collection & Diffusion Policy Training |
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| This repo contains the scripts used to collect simulation demonstrations and train Diffusion Policy (DP) checkpoints for 6 robot manipulation tasks on NVIDIA L40s cluster nodes, as part of the UR5 sim2real pipeline. |
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|
| ## Overview |
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| | Task | Demos | DP Checkpoint | Notes | |
| |------|-------|---------------|-------| |
| | `battery_v1` | 50 | `1027_sim_ckpt/battery_v1/latest.ckpt` | ✅ | |
| | `ring_v1` | 50 | `1027_sim_ckpt/ring_v1/latest.ckpt` | ✅ | |
| | `package_d5_v1` | 50 | `1027_sim_ckpt/package_d5_v1/latest.ckpt` | ✅ | |
| | `ringpeg_dart_v1` | 100 | `1027_sim_ckpt/ringpeg_dart_v1/latest.ckpt` | ✅ | |
| | `blb_v1` | 47 | `1027_sim_ckpt/blb_v1/latest.ckpt` | ✅ (47 due to GPU crash) | |
| | `plug_v1` | 50 | `1027_sim_ckpt/plug_v1/latest.ckpt` | ✅ | |
| | `toaster_lever` | — | — | ❌ Skipped: USD crashes Isaac Sim 5 | |
| | `plug1ramp_v1` | 50 (to collect) | — | 🆕 2026-10-31, `yp_task_1031.sh` | |
| | `battery2_v1` | 50 (to collect) | — | 🆕 2026-10-31, `yp_task_1031.sh` | |
| | `eraser1_v1` | 50 (to collect) | — | 🆕 2026-10-31, `yp_task_1031.sh` | |
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| Demo zarr + collect_meta are in `1027_sim_demo/<task>/` on HuggingFace `yqi19/dagger`. |
| |
| --- |
| |
| ## Repository Layout |
| |
| ``` |
| 1027_run/ # Original run (2x parallel collection) |
| tasks/ |
| yp_task.sh # battery / ring / plug collect + train |
| package_d5.sh # package_d5 collect + train |
| bread_lever_bowl.sh # bread_lever_bowl collect + train |
| ringpeg.sh # ringpeg collect + train |
| yp_train_only.sh # train-only (after manual merge) |
| package_d5_train.sh # package_d5 train-only |
| jobs/ # Slurm sbatch wrappers |
| merge_shards.py # merge N shard dirs into one output dir |
| upload_results.sh # HuggingFace upload script |
| |
| 1028_run/ # Speedup run (4x parallel collection + AMP training) |
| tasks/ |
| yp_task.sh # battery / ring / plug — 4x parallel |
| yp_task_1031.sh # plug1ramp / battery2 / eraser1 — 4x parallel (2026-10-31) |
| package_d5.sh |
| bread_lever_bowl.sh |
| ringpeg.sh |
| jobs/ # Slurm sbatch wrappers |
| merge_shards.py |
| ``` |
| |
| Code lives at: |
| ``` |
| /lustre/fsw/portfolios/nvr/users/jtremblay/yu/1027_sim_tasks/share_v5_sim2real_20260929/code/ |
| ur5_lab_code/ # DP training (Hydra/PyTorch) |
| ur5_import/ # sim collect utils, build_scene, pack_zarr |
| sim_data/ # symlinks to per-task data dirs |
| train_runs/ # training output dirs (checkpoints) |
| ``` |
|
|
| --- |
|
|
| ## Environment |
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|
| Two conda envs on Lustre (`/lustre/fsw/portfolios/nvr/users/jtremblay/yu/miniconda3/`): |
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| | Env | Purpose | |
| |-----|---------| |
| | `simfoundry` | Isaac Sim 5 + OmniGibson (data collection) | |
| | `ur5dp` | PyTorch + Diffusion Policy (training) | |
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| Container: `robolab-isaacsim5.sqsh` (Isaac Sim 5, CUDA 12.8). |
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| ### Key env vars for collection |
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|
| ```bash |
| OMNIGIBSON_HEADLESS=1 |
| OMNI_KIT_ACCEPT_EULA=YES |
| OMNIGIBSON_RENDER_VIEWER_CAMERA=0 |
| OMNIGIBSON_DATA_PATH=.../BEHAVIOR-1K/datasets |
| OMNIGIBSON_GPU_ID=<0|1|2|3> # physical GPU index (do NOT set CUDA_VISIBLE_DEVICES) |
| TORCH_COMPILE_DISABLE=1 |
| TORCHDYNAMO_DISABLE=1 |
| ``` |
|
|
| --- |
|
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| ## Data Collection |
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| ### Camera quality |
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| Cameras render at **native resolution** from `ur5_import/cfg/scene_real.yaml`: |
| - `cam0` (RealSense D455): **1280×720**, 10 fps |
| - `cam1` (FLIR Blackfly): **1440×1080**, 10 fps |
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| Videos encoded with `libx264 yuv420p` via imageio/ffmpeg. Training crops both to **224×224**. |
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| 4x parallel collection does **not** affect render quality: each process gets its own Isaac Sim instance on a dedicated physical GPU (`OMNIGIBSON_GPU_ID=0/1/2/3`). Vulkan renderer + PhysX are both pinned to the same physical GPU. |
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| ### Per-task collect scripts |
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| All tasks follow the same pattern: N parallel Isaac Sim processes → merge shards → pack zarr → train. |
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| ``` |
| sbatch 1028_run/jobs/battery_job.sh |
| sbatch 1028_run/jobs/ring_job.sh |
| sbatch 1028_run/jobs/plug_job.sh |
| sbatch 1028_run/jobs/package_d5_job.sh |
| sbatch 1028_run/jobs/bread_lever_bowl_job.sh |
| sbatch 1028_run/jobs/ringpeg_job.sh |
| sbatch 1028_run/jobs/plug1ramp_job.sh # 2026-10-31 tasks, see below |
| sbatch 1028_run/jobs/battery2_job.sh |
| sbatch 1028_run/jobs/eraser1_job.sh |
| ``` |
|
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| ### 2026-10-31 tasks (`yp_task_1031.sh`) |
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| Same pipeline and settings as `yp_task.sh` (4 shards on GPU 0-3, seeds 200-599, max-kept 15/15/15/20, `--dart --start-offset`, merge -> pack_zarr -> AMP training, 130 epochs). Only the collector script differs: |
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| | `TASK=` | Script | Task | Smoke test (yu_workstation, no video) | Time per demo (with video, RTX 4090) | |
| |---|---|---|---|---| |
| | `plug1ramp` | `yp_plugrack.py --task plug1ramp` | white plug from the grey ramp -> rotate wrist 45° -> into the outlet | 12/12 | ~200 s | |
| | `battery2` | `yp_battery2.py` | black battery -> grey holder, then white battery -> white holder | 12/12 | ~320 s | |
| | `eraser1` | `yp_eraser.py` | pick the eraser, wipe two black marker lines and fine stains off the fixed whiteboard (3 lanes), put the eraser back | 12/12 | ~350 s | |
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| Setup (once): extract `1027_sim_tasks/tasks/yu_parts_tasks_1031.tar.gz` into `$TASKS` (= `.../yu/1027_sim_tasks`). It only adds files to `yu_parts_tasks/` (the shared scripts are byte-identical to the 10-27 package) and brings the new objects in `yu_parts_tasks/object_assets/objects/` (`grey_plug_ramp_test`, `white_plug_ramp_test`, `white_board`, `blue_eraser`); `yp_task_1031.sh` links them into `yu-assets` and stops with an error if they are missing. Train-only reruns: `jobs/<task>_train_job.sh` (uses `train_only.sh`, `NAME=<task>_v1`). |
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| The eraser1 stains are a dynamic texture on the board face material (`omni.ui.DynamicTextureProvider`); the extra npz key `ink_left` is the stain fraction left per step. Details for all three tasks: `README_1031.md` inside the package. Example episodes (seed 0, cam0 | cam1): `1027_smoke_video/1031/`. |
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| ### Shard merge |
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| ```bash |
| python3 merge_shards.py shard_a/ shard_b/ shard_c/ shard_d/ final_dir/ 50 |
| ``` |
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| Merges episode npz + videos, renumbers indices, writes `collect_meta.json`. |
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| --- |
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| ## Training |
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| ### Config |
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| - Config: `train_baseline_diffusion_unet` + `task=sim_baseline` |
| - Policy: `DiffusionUnetBaselineAugPolicy` |
| - 130 epochs, `checkpoint_every=129` → saves `latest.ckpt` at end |
| - Cam augmentation: cam1 dropout 0.1, aug_p 0.5, erase_p 0.3, cam0 aug_p 0.3 |
| |
| ### Speed comparison |
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| | Setting | it/s | Batches/epoch | Time for 130 epochs | |
| |---------|------|---------------|---------------------| |
| | `1027_run`: batch=64, workers=4, FP32 | ~1.1 | 324 | ~10h | |
| | `1028_run`: batch=256, workers=16, AMP (FP16) | ~2.5 | 39 | **~78 min** | |
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| **Measured speedup: 7.7× on training** (tested on battery_v1, L40s GPU). |
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| **Speedup sources:** |
| 1. **batch_size 64→256**: 4× fewer batches per epoch |
| 2. **AMP mixed precision** (`+training.use_amp=True`): FP16 forward/backward via `torch.cuda.amp.GradScaler` + `autocast`, ~2× throughput on L40s tensor cores |
| 3. **num_workers 4→16**: parallel zarr.zip cache loading |
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| AMP is patched into `train_equi_workspace.py`. Disable with `+training.use_amp=False`. |
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| ### Collection speedup |
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| | Setting | Total collect time (50 demos) | |
| |---------|-------------------------------| |
| | `1027_run`: 2x parallel (GPU 0+2) | ~5–8h | |
| | `1028_run`: 4x parallel (GPU 0/1/2/3) | **~2.5h** | |
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| **Measured: battery_v1 50 demos in 2h 26min** (4x parallel, 15+15+15+20 shards). |
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| ~270s per demo × 50 demos / 4 GPUs = ~56 min minimum. With Isaac Sim init overhead (~3 min/proc × 4 staggered) total ~2.5h. |
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| --- |
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| ## Known Issues |
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| ### Isaac Sim GPU crash (RenderGraph Error) |
| After ~3–4h / ~18 demos per process, Isaac Sim hits GPU memory leak. Solution: collect in short shards (max-kept=15–20), then merge. |
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| ### toaster_lever skipped |
| `black_toaster_lever` USD crashes `add_reference_to_stage` at the C++ layer in Isaac Sim 5. Not fixable without USD rebuild. |
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| ### OmniGibson vision_sensor patch |
| `vision_sensor.py` `_remove_modality_from_backend` raises `TypeError` during multi-episode teardown. Fix: wrap `detach()` in `try/except (TypeError, AttributeError)`. |
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| ### OMNIGIBSON_GPU_ID vs CUDA_VISIBLE_DEVICES |
| Isaac Sim uses `OMNIGIBSON_GPU_ID` for both Vulkan rendering (`active_gpu`) and PhysX CUDA (`physics_gpu`). **Do not** combine with `CUDA_VISIBLE_DEVICES` — it causes PhysX to request an invalid device ordinal. |
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| --- |
| |
| ## HuggingFace Upload |
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| Dataset: `yqi19/dagger` |
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| ``` |
| 1027_sim_demo/<task>/collect_meta.json |
| 1027_sim_demo/<task>/replay_buffer.zarr/ |
| 1027_sim_ckpt/<task>/latest.ckpt |
| ``` |
| |
| Upload script: `1027_run/upload_results.sh` |
| |
| --- |
| |
| ## Cluster |
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| - Account: `nvr_lpr_rvp`, QOS: `normal`, Partition: `batch_long` |
| - Node spec: L40s × 4 GPUs per node, 56 CPUs, 48GB VRAM per GPU |
| - `--comment=fact_off` on all jobs |
| - Container mounts: `/lustre/fsw/portfolios/nvr/users/jtremblay:/lustre/fsw/portfolios/nvr/users/jtremblay` |
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