| name: train_act_image |
| _target_: memory_diffusion_policy.workspace.train_act_image_workspace.TrainACTImageWorkspace |
| task_name: ${task.name} |
| shape_meta: ${task.shape_meta} |
| exp_name: default |
| horizon: 100 |
| n_obs_steps: 1 |
| n_action_steps: 16 |
| n_latency_steps: 0 |
| dataset_obs_steps: ${n_obs_steps} |
| past_action_visible: false |
| keypoint_visible_rate: 1.0 |
| rollout_mode: wandb |
| rollout_n_envs: null |
| policy: |
| _target_: memory_diffusion_policy.policy.act_image_policy.ACTImagePolicy |
| shape_meta: ${shape_meta} |
| chunk_size: ${horizon} |
| n_action_steps: ${n_action_steps} |
| n_obs_steps: ${n_obs_steps} |
| kl_weight: 10.0 |
| hidden_dim: 512 |
| dim_feedforward: 3200 |
| nheads: 8 |
| enc_layers: 4 |
| dec_layers: 7 |
| dropout: 0.1 |
| pre_norm: false |
| position_embedding: sine |
| backbone: resnet18 |
| backbone_pretrained: true |
| lr_backbone: 1.0e-05 |
| temporal_agg: false |
| temporal_agg_k: 0.01 |
| dataloader: |
| batch_size: 8 |
| num_workers: 8 |
| shuffle: true |
| pin_memory: true |
| persistent_workers: false |
| val_dataloader: |
| batch_size: 8 |
| num_workers: 8 |
| shuffle: false |
| pin_memory: true |
| persistent_workers: false |
| optimizer: |
| _target_: torch.optim.AdamW |
| lr: 1.0e-05 |
| betas: |
| - 0.9 |
| - 0.999 |
| eps: 1.0e-08 |
| weight_decay: 0.0001 |
| training: |
| device: cuda:0 |
| seed: 42 |
| debug: false |
| resume: true |
| lr_scheduler: cosine |
| lr_warmup_steps: 500 |
| num_epochs: 2000 |
| gradient_accumulate_every: 1 |
| use_ema: false |
| rollout_every: 0 |
| checkpoint_every: 25 |
| val_every: 0 |
| sample_every: 0 |
| max_train_steps: null |
| max_val_steps: null |
| tqdm_interval_sec: 1.0 |
| logging: |
| project: act_baseline |
| resume: true |
| mode: online |
| name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} |
| tags: |
| - ${name} |
| - ${task_name} |
| - ${exp_name} |
| id: null |
| group: null |
| checkpoint: |
| topk: |
| monitor_key: test_mean_score |
| mode: max |
| k: 0 |
| format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt |
| save_last_ckpt: true |
| save_last_snapshot: false |
| save_every_n_epochs: ${training.checkpoint_every} |
| multi_run: |
| run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} |
| wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} |
| task: |
| name: insert_peg_image_abs_jinglin |
| rotation_rep: rotation_6d |
| default_orientation_axisangle: |
| - 3.14159265 |
| - 0.0 |
| - 0.0 |
| image_shape: |
| - 3 |
| - 96 |
| - 96 |
| shape_meta: |
| obs: |
| peg_focus_view_image: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| type: rgb |
| robot0_eye_in_hand_image: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| type: rgb |
| robot0_eef_pos: |
| shape: |
| - 3 |
| type: low_dim |
| robot0_eef_quat: |
| shape: |
| - 4 |
| type: low_dim |
| robot0_gripper_qpos: |
| shape: |
| - 2 |
| type: low_dim |
| action: |
| shape: |
| - 10 |
| task_name: insert_peg |
| dataset_path: data/image_insertpeg_jinglin.hdf5 |
| abs_action: true |
| env_runner: |
| _target_: memory_diffusion_policy.env_runner.robosuite_pomdp_image_runner.RobosuitePomdpImageRunner |
| env_name: InsertPegVision |
| dataset_path: data/image_insertpeg_jinglin.hdf5 |
| shape_meta: |
| obs: |
| peg_focus_view_image: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| type: rgb |
| robot0_eye_in_hand_image: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| type: rgb |
| robot0_eef_pos: |
| shape: |
| - 3 |
| type: low_dim |
| robot0_eef_quat: |
| shape: |
| - 4 |
| type: low_dim |
| robot0_gripper_qpos: |
| shape: |
| - 2 |
| type: low_dim |
| action: |
| shape: |
| - 10 |
| n_train: 4 |
| n_train_vis: 2 |
| train_start_seed: 0 |
| n_test: 20 |
| n_test_vis: 4 |
| test_start_seed: 100000 |
| max_steps: 2500 |
| n_obs_steps: ${n_obs_steps} |
| n_action_steps: ${n_action_steps} |
| render_obs_key: peg_focus_view_image |
| abs_action: true |
| rotation_rep: ${task.rotation_rep} |
| default_orientation_axisangle: ${task.default_orientation_axisangle} |
| fps: 10 |
| past_action: ${past_action_visible} |
| n_envs: ${oc.select:rollout_n_envs,null} |
| rollout_mode: ${oc.select:rollout_mode,wandb} |
| dataset: |
| _target_: memory_diffusion_policy.dataset.robomimic_3d_replay_image_dataset.Robomimic3DReplayImageDataset |
| shape_meta: |
| obs: |
| peg_focus_view_image: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| type: rgb |
| robot0_eye_in_hand_image: |
| shape: |
| - 3 |
| - 96 |
| - 96 |
| type: rgb |
| robot0_eef_pos: |
| shape: |
| - 3 |
| type: low_dim |
| robot0_eef_quat: |
| shape: |
| - 4 |
| type: low_dim |
| robot0_gripper_qpos: |
| shape: |
| - 2 |
| type: low_dim |
| action: |
| shape: |
| - 10 |
| dataset_path: data/image_insertpeg_jinglin.hdf5 |
| horizon: ${horizon} |
| pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'} |
| pad_after: ${eval:'${n_action_steps}-1'} |
| n_obs_steps: ${dataset_obs_steps} |
| abs_action: true |
| rotation_rep: ${task.rotation_rep} |
| action_key: actions_abs |
| use_legacy_normalizer: false |
| use_cache: true |
| max_demos: null |
| seed: 42 |
| val_ratio: 0.05 |
|
|
