add insert_peg/config.yaml

insert_peg/config.yaml

@@ -0,0 +1,231 @@
+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