Upload policy_checkpoints/CoffeePreparation_D1/2025-02-03-00-25-12_E32.0-CoffeePreparation_D1-375-nominal-125-boost/.hydra/config.yaml with huggingface_hub

policy_checkpoints/CoffeePreparation_D1/2025-02-03-00-25-12_E32.0-CoffeePreparation_D1-375-nominal-125-boost/.hydra/config.yaml

@@ -0,0 +1,251 @@
+name: train_diffusion_unet_image
+_target_: adaflow.workspace.train_diffusion_unet_image_workspace.TrainDiffusionUnetImageWorkspace
+task_name: ${task.name}
+dataset_type: ${task.dataset_type}
+shape_meta: ${task.shape_meta}
+exp_name: default
+horizon: 16
+n_obs_steps: 2
+n_action_steps: 8
+n_latency_steps: 0
+dataset_obs_steps: ${n_obs_steps}
+past_action_visible: false
+keypoint_visible_rate: 1.0
+obs_as_global_cond: true
+normalize_pixel: false
+policy:
+  _target_: adaflow.policy.diffusion_unet_image_policy.DiffusionUnetImagePolicy
+  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
+  obs_encoder:
+    _target_: adaflow.model.vision.multi_image_obs_encoder.MultiImageObsEncoder
+    shape_meta: ${shape_meta}
+    rgb_model:
+      _target_: adaflow.model.vision.model_getter.get_resnet
+      name: resnet18
+      weights: null
+    resize_shape: null
+    crop_shape:
+    - 76
+    - 76
+    random_crop: true
+    use_group_norm: true
+    share_rgb_model: false
+    imagenet_norm: true
+    depth_norm: true
+    norm_args:
+      robot0_eye_in_hand_depth:
+        clamp_max: 1.0
+        mean: 0.177
+        std: 0.1699
+      agentview_depth:
+        clamp_max: 1.75
+        mean: 0.778
+        std: 0.349
+  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}
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 512
+  - 1024
+  - 2048
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+ema:
+  _target_: adaflow.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: 4
+  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
+  resume_dir: null
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 500
+  gradient_accumulate_every: 1
+  use_ema: true
+  freeze_encoder: false
+  rollout_every: 20
+  checkpoint_every: 20
+  val_every: 5
+  sample_every: 5
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+  pretrained_ckpt: null
+logging:
+  project: adaflow
+  resume: true
+  mode: online
+  name: E32.0-CoffeePreparation_D1-375-nominal-125-boost_CoffeePreparation_D1_2025-02-03-00-25-12
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: test_mean_score
+    mode: max
+    k: 1
+    format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: /mnt/data1/kevin/autom/adaflow//policy_checkpoints/CoffeePreparation_D1/2025-02-03-00-25-12_E32.0-CoffeePreparation_D1-375-nominal-125-boost
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}_${dataset_type}
+task:
+  name: coffee_image
+  shape_meta:
+    obs:
+      agentview_image:
+        shape:
+        - 3
+        - 84
+        - 84
+        type: rgb
+      robot0_eye_in_hand_image:
+        shape:
+        - 3
+        - 84
+        - 84
+        type: rgb
+      robot0_eef_pos:
+        shape:
+        - 3
+      robot0_eef_quat:
+        shape:
+        - 4
+      robot0_gripper_qpos:
+        shape:
+        - 2
+    action:
+      shape:
+      - 10
+  task_name: coffee
+  dataset_type: ph
+  dataset_path: /mnt/data1/kevin/autom/demo-aug//datasets/generated/CoffeePreparation_D1/2025-02-03-00-25-12/merged_E32.0-CoffeePreparation_D1-375-nominal-125-boost_all.hdf5
+  abs_action: true
+  env_runner:
+    _target_: adaflow.env_runner.robomimic_image_runner.RobomimicImageRunner
+    dataset_path: /mnt/data1/kevin/autom/demo-aug//datasets/generated/CoffeePreparation_D1/2025-02-03-00-25-12/merged_E32.0-CoffeePreparation_D1-375-nominal-125-boost_all.hdf5
+    shape_meta:
+      obs:
+        agentview_image:
+          shape:
+          - 3
+          - 84
+          - 84
+          type: rgb
+        robot0_eye_in_hand_image:
+          shape:
+          - 3
+          - 84
+          - 84
+          type: rgb
+        robot0_eef_pos:
+          shape:
+          - 3
+        robot0_eef_quat:
+          shape:
+          - 4
+        robot0_gripper_qpos:
+          shape:
+          - 2
+      action:
+        shape:
+        - 10
+    n_train: 2
+    n_train_vis: 2
+    train_start_idx: 0
+    n_test: 50
+    n_test_vis: 50
+    test_start_seed: 100000
+    max_steps: 900
+    n_obs_steps: ${n_obs_steps}
+    n_action_steps: ${n_action_steps}
+    render_obs_key: agentview_image
+    fps: 10
+    crf: 22
+    past_action: ${past_action_visible}
+    abs_action: true
+    tqdm_interval_sec: 1.0
+    n_envs: 26
+    camera_depths: false
+  dataset:
+    _target_: adaflow.dataset.robomimic_replay_image_dataset.RobomimicReplayImageDataset
+    shape_meta:
+      obs:
+        agentview_image:
+          shape:
+          - 3
+          - 84
+          - 84
+          type: rgb
+        robot0_eye_in_hand_image:
+          shape:
+          - 3
+          - 84
+          - 84
+          type: rgb
+        robot0_eef_pos:
+          shape:
+          - 3
+        robot0_eef_quat:
+          shape:
+          - 4
+        robot0_gripper_qpos:
+          shape:
+          - 2
+      action:
+        shape:
+        - 10
+    dataset_path: /mnt/data1/kevin/autom/demo-aug//datasets/generated/CoffeePreparation_D1/2025-02-03-00-25-12/merged_E32.0-CoffeePreparation_D1-375-nominal-125-boost_all.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: rotation_6d
+    use_legacy_normalizer: false
+    use_cache: true
+    seed: 42
+    val_ratio: 0.02