| name: train_diffusion_unet_hybrid_image_abs |
| _target_: memory_diffusion_policy.workspace.train_diffusion_unet_hybrid_workspace.TrainDiffusionUnetHybridWorkspace |
| task_name: ${task.name} |
| shape_meta: ${task.shape_meta} |
| exp_name: default |
| horizon: 8 |
| n_obs_steps: 1 |
| n_action_steps: 4 |
| n_latency_steps: 0 |
| dataset_obs_steps: ${n_obs_steps} |
| past_action_visible: false |
| keypoint_visible_rate: 1.0 |
| obs_as_global_cond: true |
| rollout_mode: wandb |
| rollout_n_envs: null |
| policy: |
| _target_: memory_diffusion_policy.policy.diffusion_unet_hybrid_image_policy.DiffusionUnetHybridImagePolicy |
| shape_meta: ${shape_meta} |
| noise_scheduler: |
| _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler |
| num_train_timesteps: 100 |
| beta_start: 0.0001 |
| beta_end: 0.02 |
| beta_schedule: squaredcos_cap_v2 |
| variance_type: fixed_small |
| clip_sample: true |
| prediction_type: epsilon |
| horizon: ${horizon} |
| n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} |
| n_obs_steps: ${n_obs_steps} |
| num_inference_steps: 100 |
| obs_as_global_cond: ${obs_as_global_cond} |
| crop_shape: |
| - 76 |
| - 76 |
| diffusion_step_embed_dim: 128 |
| down_dims: |
| - 512 |
| - 1024 |
| - 2048 |
| kernel_size: 5 |
| n_groups: 8 |
| cond_predict_scale: true |
| obs_encoder_group_norm: true |
| eval_fixed_crop: true |
| ema: |
| _target_: diffusion_policy.model.diffusion.ema_model.EMAModel |
| update_after_step: 0 |
| inv_gamma: 1.0 |
| power: 0.75 |
| min_value: 0.0 |
| max_value: 0.9999 |
| dataloader: |
| batch_size: 64 |
| num_workers: 8 |
| shuffle: true |
| pin_memory: true |
| persistent_workers: false |
| val_dataloader: |
| batch_size: 64 |
| num_workers: 8 |
| shuffle: false |
| pin_memory: true |
| persistent_workers: false |
| optimizer: |
| _target_: torch.optim.AdamW |
| lr: 0.0001 |
| betas: |
| - 0.95 |
| - 0.999 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-06 |
| training: |
| device: cuda:0 |
| seed: 42 |
| debug: false |
| resume: true |
| lr_scheduler: cosine |
| lr_warmup_steps: 500 |
| num_epochs: 3050 |
| gradient_accumulate_every: 1 |
| use_ema: true |
| rollout_every: 0 |
| checkpoint_every: 50 |
| val_every: 0 |
| sample_every: 0 |
| max_train_steps: null |
| max_val_steps: null |
| tqdm_interval_sec: 1.0 |
| logging: |
| project: diffusion_policy_3d |
| 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 |
|
|
