Add files using upload-large-folder tool

config.yaml

@@ -0,0 +1,453 @@
+root_dir: /mnt/kostas-graid/datasets/extrinsic_contact_data
+replay_buffer_size: 150000
+replay_buffer_num_workers: 2
+nstep: 3
+batch_size: 128
+seed: 0
+device: cuda
+save_video: true
+save_train_video: true
+use_tb: true
+use_wandb: true
+wandb_run_id: '265619'
+wandb_notes: 265619_req_266315restarted_1
+eval: false
+process_contact_features: ${eval}
+obs_type: pixels
+use_color: true
+use_depth: true
+use_masks: false
+mask_list:
+- EE_obj_mask
+mask_representation: channels
+crop_hw:
+- 144
+- 144
+crop_down_offset: 48
+color_crop_type: null
+depth_crop_type: null
+segmask_crop_type: null
+add_crop_binary_mask: false
+add_coord_conv_map: false
+use_context_color: false
+use_context_depth: false
+use_context_segmask: false
+context_color_crop_type: null
+context_depth_crop_type: null
+context_segmask_crop_type: null
+context_add_crop_binary_mask: false
+context_add_coord_conv_map: false
+use_contact_map: false
+use_sdf_maps: false
+use_normals_maps: false
+which_objects: both
+max_contact_prob: 0.1
+max_depth: 2.0
+grasped_dtc_max_value: 0.2
+env_dtc_max_value: 0.4
+grasped_normals_mask_max_dtc_value: 0.2
+env_normals_mask_max_dtc_value: 0.4
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: true
+contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+encoder_type: small
+debug_timestamps: false
+open_loop: false
+action_trajectories: true
+stop_after_action: false
+interpolation_frequency: 25
+policy_frequency: 5
+wait_for_new_camera_frames: true
+baseline: false
+train_demo_idxs_list_or_num: -1
+log_train_every_steps: 25
+name_of_expert_demo: 64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+expert_dataset_dirpath: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_expert_demo}
+store_dataset_in_memory: false
+expert_dataset: ${expert_dataset_dirpath}/demos.zarr
+action_key: ${oc.if_else:${action_trajectories}, 'action_trajectory_${interpolation_frequency}hz',
+  'action'}
+semantic_demo_grouping_name: semantic_demo_grouping.yaml
+semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}
+include_groups_list:
+- hbm_twodim_left_to_right
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+name_of_valid_demo: 64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+valid_dataset_dir: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_valid_demo}/demos.zarr
+valid_demo_idxs_list_or_num: null
+val_num_groups: 0
+load_bc: ${agent.load_checkpoint}
+checkpoint_epoch_list:
+- 99
+- 199
+- 299
+- 399
+- 499
+- 599
+- 699
+- 799
+- 899
+- 999
+- 1249
+- 1499
+- 1749
+- 1999
+- 2999
+- 3999
+- 4999
+- 5999
+- 6999
+- 7999
+- 8999
+- 9999
+snapshot_root_dir: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
+save_snapshot: true
+save_last_snapshot: true
+save_snapshot_when_done: true
+top_k_checkpoints: 5
+save_snapshot_link_to_weights_dir: deprecated
+bc_regularize: false
+bc_weight_type: qfilter
+experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+agent:
+  _target_: agent.diffusion_policy.DiffusionPolicyAgent
+  name: diffusion_policy
+  load_checkpoint: ${eval}
+  obs_shape:
+  - 4
+  - 240
+  - 320
+  action_shape:
+  - 36
+  - 7
+  device: ${device}
+  n_obs_steps: ${.config.policy_cfg.n_obs_steps}
+  suite_name: ${suite.name}
+  obs_type: ${obs_type}
+  enable_arm: ${eval}
+  enable_camera: ${eval}
+  use_tb: ${use_tb}
+  desired_image_shape:
+  - 13
+  - 180
+  - 240
+  orig_cam_shape:
+  - 3
+  - 240
+  - 320
+  config:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+    compile: false
+    device: ${device}
+    cam_resize_shape: ${agent.desired_image_shape}
+    orig_cam_shape: ${agent.orig_cam_shape}
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 36
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      output_shapes:
+        action:
+        - 7
+      input_normalization_modes:
+        observation.image: mean_std
+        observation.state: min_max
+        observation.action_history: min_max
+      output_normalization_modes:
+        action: min_max
+      vision_backbone: resnet18
+      pretrained_backbone_weights: null
+      transforms:
+      - _target_: torchaug.transforms.RandomAffine
+        degrees:
+        - -5
+        - 5
+        translate:
+        - 0.05
+        - 0.05
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      - _target_: torchaug.transforms.RandomColorJitter
+        brightness: 0.3
+        contrast: 0.4
+        saturation: 0.5
+        hue: 0.08
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      use_group_norm: true
+      spatial_softmax_num_keypoints: 32
+      action_history_encoder_config:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+        in_channels: 7
+        out_channels: 32
+        history_length: 6
+        kernel_size: ${agent.config.policy_cfg.kernel_size}
+        downsample_kernel_size: 3
+        downsample_stride: 2
+        downsample_padding: 1
+      down_dims:
+      - 256
+      - 512
+      - 1024
+      kernel_size: 5
+      n_groups: 8
+      diffusion_step_embed_dim: 128
+      use_film_scale_modulation: true
+      noise_scheduler_type: DDIM
+      beta_schedule: squaredcos_cap_v2
+      beta_start: 0.0001
+      beta_end: 0.02
+      prediction_type: epsilon
+      clip_sample: true
+      clip_sample_range: 1.0
+      num_train_timesteps: 50
+      num_inference_steps: 10
+      do_mask_loss_for_padding: false
+      input_shapes:
+        observation.image:
+        - 13
+        - 180
+        - 240
+        context_observation.image:
+        - 13
+        - 180
+        - 240
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+    train_cfg:
+      _target_: utils.TrainConfig
+      lr: 0.0001
+      lr_scheduler: cosine
+      lr_warmup_steps: 500
+      adam_betas:
+      - 0.95
+      - 0.999
+      adam_eps: 1.0e-08
+      adam_weight_decay: 1.0e-06
+      grad_clip_norm: 10
+      offline_steps: ${num_train_frames_diffusion}
+      use_amp: true
+    observation_cfg:
+      _target_: agent.encoder.VisualFeatureSet
+      use_depth: ${use_depth}
+      use_color: ${use_color}
+      mask_input_dict:
+        _target_: agent.encoder.MaskInputDict
+        enable: ${use_masks}
+        representation: ${mask_representation}
+        mask_list: ${mask_list}
+      crop_input_config:
+        _target_: agent.encoder.CropInputConfig
+        color_crop_type: ${color_crop_type}
+        depth_crop_type: ${depth_crop_type}
+        segmask_crop_type: ${segmask_crop_type}
+        crop_hw: ${crop_hw}
+        crop_down_offset: ${crop_down_offset}
+        add_crop_binary_mask: ${add_crop_binary_mask}
+        add_coord_conv_map: ${add_coord_conv_map}
+      context_input_config:
+        _target_: agent.encoder.ContextInputConfig
+        use_color: ${use_context_color}
+        use_depth: ${use_context_depth}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_context_segmask}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${context_color_crop_type}
+          depth_crop_type: ${context_depth_crop_type}
+          segmask_crop_type: ${context_segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${context_add_crop_binary_mask}
+          add_coord_conv_map: ${context_add_coord_conv_map}
+      mask_soft_approx_scheduler_config:
+        _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+        num_steps: 40000
+        initial_value: 10.0
+        final_value: 1000.0
+        interpolation_scheme: cosine
+      use_contact_map: ${use_contact_map}
+      use_sdf_maps: ${use_sdf_maps}
+      use_normals_maps: ${use_normals_maps}
+      which_objects: ${which_objects}
+      grasped_dtc_max_value: ${grasped_dtc_max_value}
+      env_dtc_max_value: ${env_dtc_max_value}
+      grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+      env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+      clamp_dtc: ${clamp_dtc}
+      max_contact_prob: ${max_contact_prob}
+      mask_normals_within_sdf: ${mask_normals_within_sdf}
+      dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+      adaptive_normals_mask: ${adaptive_normals_mask}
+      max_depth: ${max_depth}
+      image_shape: ${agent.desired_image_shape}
+      learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+      learning_rate: 0.0001
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+    policy_frequency: 5
+    interpolation_frequency: 25
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 1000000
+  num_seed_frames: 0
+  num_train_epochs: 15000
+  validate_every_epochs: 250
+  validate_diffusion_on_action_loss_every_epochs: 250
+  train_eval_diffusion_on_action_loss_every_epochs: 250
+  check_topk_every_epochs: 250
+  save_snapshot_every_epochs: 1500
+  eval_every_frames: 2000
+  num_eval_episodes: 5
+  save_snapshot: true
+  wait_for_user_to_start_episode: true
+  task_make_fn:
+    _target_: suite.frankagym.make
+    name: ${task_name}
+    height: 240
+    width: 320
+    frame_stack: ${suite.frame_stack}
+    action_repeat: ${suite.action_repeat}
+    seed: ${seed}
+    enable_arm: ${agent.enable_arm}
+    enable_gripper: ${enable_gripper}
+    start_with_gripper_open: ${start_with_gripper_open}
+    enable_camera: ${agent.enable_camera}
+    path_to_depth_extrinsics: ${path_to_depth_extrinsics}
+    contact_estimation_model_ckpt_path: ${contact_estimation_model_ckpt_path}
+    x_limit: ${x_limit}
+    y_limit: ${y_limit}
+    z_limit: ${z_limit}
+    device: ${device}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_frequency: ${policy_frequency}
+    debug_timestamps: ${debug_timestamps}
+    stop_after_action: ${stop_after_action}
+    open_loop: ${open_loop}
+    wait_for_new_camera_frames: ${wait_for_new_camera_frames}
+    action_key: ${action_key}
+    action_trajectory_horizon: ${agent.config.policy_cfg.horizon}
+    action_trajectories: ${action_trajectories}
+    path_to_zarr_dataset: ${expert_dataset}
+    observation_cfg:
+      _target_: agent.encoder.VisualFeatureSet
+      use_depth: ${use_depth}
+      use_color: ${use_color}
+      mask_input_dict:
+        _target_: agent.encoder.MaskInputDict
+        enable: ${use_masks}
+        representation: ${mask_representation}
+        mask_list: ${mask_list}
+      crop_input_config:
+        _target_: agent.encoder.CropInputConfig
+        color_crop_type: ${color_crop_type}
+        depth_crop_type: ${depth_crop_type}
+        segmask_crop_type: ${segmask_crop_type}
+        crop_hw: ${crop_hw}
+        crop_down_offset: ${crop_down_offset}
+        add_crop_binary_mask: ${add_crop_binary_mask}
+        add_coord_conv_map: ${add_coord_conv_map}
+      context_input_config:
+        _target_: agent.encoder.ContextInputConfig
+        use_color: ${use_context_color}
+        use_depth: ${use_context_depth}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_context_segmask}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${context_color_crop_type}
+          depth_crop_type: ${context_depth_crop_type}
+          segmask_crop_type: ${context_segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${context_add_crop_binary_mask}
+          add_coord_conv_map: ${context_add_coord_conv_map}
+      mask_soft_approx_scheduler_config:
+        _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+        num_steps: 40000
+        initial_value: 10.0
+        final_value: 1000.0
+        interpolation_scheme: cosine
+      use_contact_map: ${use_contact_map}
+      use_sdf_maps: ${use_sdf_maps}
+      use_normals_maps: ${use_normals_maps}
+      which_objects: ${which_objects}
+      grasped_dtc_max_value: ${grasped_dtc_max_value}
+      env_dtc_max_value: ${env_dtc_max_value}
+      grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+      env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+      clamp_dtc: ${clamp_dtc}
+      max_contact_prob: ${max_contact_prob}
+      mask_normals_within_sdf: ${mask_normals_within_sdf}
+      dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+      adaptive_normals_mask: ${adaptive_normals_mask}
+      max_depth: ${max_depth}
+      image_shape: ${agent.desired_image_shape}
+      learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+      learning_rate: 0.0001
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+num_train_frames_bc: 50000
+num_train_frames_drq: 1100000
+stddev_schedule_drq: linear(1.0,0.1,100000)
+task_name: FrankaInsertion-v1
+num_train_frames_vinn: 25000
+num_train_frames_diffusion: 1000000
+num_train_epochs_bc: 5000
+num_train_epochs_diffusion: 15000
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 250
+validate_diffusion_on_action_loss_every_epochs: 250
+train_eval_diffusion_on_action_loss_every_epochs: 250
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: 250
+save_snapshot_every_epochs_diffusion: 1500
+x_limit:
+- 0.2
+- 0.7
+y_limit:
+- -0.4
+- 0.4
+z_limit:
+- -0.05
+- 0.55
+home_displacement:
+- 0.55
+- 0.0
+- 0.55
+- 180.0
+- 0.0
+- 0.0
+enable_gripper: true
+start_with_gripper_open: true
+offset_mask:
+- 1
+- 1
+- 1
+- 1
+- 1
+- 1
+path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+feature_type: 180x240_1_RGB_D_2.0_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+dataset_shuffle_seed: 0

snapshot_10500.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a661b5dda6cdfe7a25d9d9165a56c2fa2d72cc3bd38c44d3de704546f5f43c
+size 910065174

snapshot_12000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6695564bbd3f874cb28ac67298d1eeb0af14be292ae1dfaa13504ffc01150021
+size 910065174

snapshot_12249.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35388157c4f41bf6b767f33589a5768176cc6d6334b300dbfdb24f8fb7454927
+size 910065174

snapshot_12749.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:287aec335f9f4cb4e29432c676538fe81fcaa2ee67a5965787ae025b9d51ff51
+size 910065174

snapshot_13500.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07836c15ca92af49727673860ad9c571015fbc87043c82fdfbb9e1d69ff2abd7
+size 910065174

snapshot_14499.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e3ac1d6ef50fafcc4c0dc812caf2a72edc6d3f6e02e3fbcdfefe6bfd676ba9
+size 910065174

snapshot_14749.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4c5f80311fa114138a72d68b4dd346ffb6b16116455ab66f4ff7170ccbb102
+size 910065174

snapshot_14999.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0169f1d625a693e139cc408ebe89b00028b62022d75af1ce9c80ba5c4c246c8e
+size 910065174

snapshot_1500.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d478314adee7f2d1f5a511744ad2ef9be315b1be3541a6a402942304e4abac
+size 910065174

snapshot_15000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a12f3e4da44febf3a98e5900d62566e1d317ce8ec0cbf80c59ae16845e9b90aa
+size 910065174

snapshot_3000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a5b7410d151a61f7890f555d67f62c27e854f83e588345ff0b22447322d1d64
+size 910065174

snapshot_4500.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:639ebb552e00a7f39636c4a3a51d7906bb46270c895dae2827bd06c9dadd89b5
+size 910065174

snapshot_6000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2c3608eb8c4ea1389e65907a9f92e93da0f61985b5ba2da7251c7a994a07cbb
+size 910065174

snapshot_7500.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5740ebf9d783c124f882ecb9cbf7ba3e2f018524255ee1c126a523f2b2815e1f
+size 910065174

snapshot_9000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af8212359fce9318f9ff5c635c81b8ab9b9c81988252b4bf1c428fea2d84db62
+size 910065174

snapshot_last.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a12f3e4da44febf3a98e5900d62566e1d317ce8ec0cbf80c59ae16845e9b90aa
+size 910065174