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@@ -33,3 +33,18 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+191334/wandb/run-20241211_191340-l07wa4hd/files/media/videos/eval/4_eval_4_35283caf4103c3829cd1.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/wandb/run-20241211_191340-l07wa4hd/files/media/videos/eval/3_eval_3_334d1f02994a0fcdeda5.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/wandb/run-20241211_191340-l07wa4hd/files/media/videos/eval/1_eval_1_3a45ace652f05385ee75.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/wandb/run-20241211_191340-l07wa4hd/files/media/videos/eval/2_eval_2_c9cccf7ec7cae45b2fa1.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/wandb/run-20241211_191340-l07wa4hd/files/media/videos/eval/0_eval_0_3da136561a2ad42749fd.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/eval_video/3_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/eval_video/4_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/eval_video/1_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/eval_video/2_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/eval_video/0_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+191334/episode_rosbags/episode_3_2024-12-11-19-16-37.bag filter=lfs diff=lfs merge=lfs -text
+191334/episode_rosbags/episode_4_2024-12-11-19-17-19.bag filter=lfs diff=lfs merge=lfs -text
+191334/episode_rosbags/episode_0_2024-12-11-19-14-01.bag filter=lfs diff=lfs merge=lfs -text
+191334/episode_rosbags/episode_1_2024-12-11-19-14-40.bag filter=lfs diff=lfs merge=lfs -text
+191334/episode_rosbags/episode_2_2024-12-11-19-15-49.bag filter=lfs diff=lfs merge=lfs -text

191332/.hydra/config.yaml

@@ -0,0 +1,349 @@
+root_dir: /home/${oc.env:USER}/fish_leon
+nstep: 3
+seed: 41
+dataset_shuffle_seed: ${seed}
+device: cuda
+save_video: true
+save_buffer: true
+use_tb: true
+baseline: false
+use_wandb: true
+eval: true
+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: 0.105
+env_dtc_max_value: 0.425
+grasped_normals_mask_max_dtc_value: 0.105
+env_normals_mask_max_dtc_value: 0.425
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: false
+contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+num_eval: 5
+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
+random_start: false
+eval_starts: ${root_dir}/FISH/eval_starts/${suite.name}_${obs_type}/${task_name}
+train_demo_idxs_list_or_num: null
+num_valid_demos: null
+val_num_groups: 3
+name_of_expert_demo: 192_240x320_multiobj_twodim_recovery_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}
+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}
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+bc_regularize: false
+bc_weight_type: qfilter
+load_checkpoint: ${agent.load_checkpoint}
+wandb_run_id: '266406_0'
+true_action_history: false
+wandb_notes: null
+checkpoint_epoch: 12000
+load_residual_weight: false
+checkpoint_root_dir: /home/${oc.env:USER}/fish_leon/FISH
+checkpoint_weight_dir: ${checkpoint_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+residual_weight: ${root_dir}/FISH/weights/${suite.name}_${obs_type}/${task_name}/weight.pt
+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}
+  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_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 36
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      input_shapes:
+        observation.image: ${agent.config.cam_resize_shape}
+        context_observation.image: ${agent.config.cam_resize_shape}
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+      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: ${agent.config.policy_cfg.n_action_steps}
+        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
+    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: constant
+      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: ${agent.config.train_cfg.lr}
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 2010
+  num_seed_frames: 260
+  num_train_epochs: 5000
+  validate_every_epochs: 100
+  validate_diffusion_on_action_loss_every_epochs: 500
+  train_eval_diffusion_on_action_loss_every_epochs: 500
+  check_topk_every_epochs: 10
+  save_snapshot_every_epochs: 5000
+  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}
+    agent_policy_cfg: ???
+    true_action_history: ${true_action_history}
+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: 5000
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 25
+validate_diffusion_on_action_loss_every_epochs: 50
+train_eval_diffusion_on_action_loss_every_epochs: 500
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: ${validate_diffusion_on_action_loss_every_epochs}
+save_snapshot_every_epochs_diffusion: 5000
+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

191332/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${experiment_dir}/${now:%H%M%S}
+  sweep:
+    dir: ${experiment_dir}/${now:%H%M%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${experiment_dir}/${now:%H%M%S}/.slurm
+    timeout_min: 60
+    cpus_per_task: null
+    gpus_per_node: null
+    tasks_per_node: 1
+    mem_gb: null
+    nodes: 1
+    name: ${hydra.job.name}
+    stderr_to_stdout: false
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - agent=diffusion
+    - suite=frankagym
+    - suite/frankagym_task@_global_=insertion
+  job:
+    name: eval_policy
+    chdir: true
+    override_dirname: agent=diffusion,suite/frankagym_task@_global_=insertion,suite=frankagym
+    id: ???
+    num: ???
+    config_name: config_eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/leonmkim/fish_leon/FISH
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/leonmkim/fish_leon/FISH/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191332
+    choices:
+      suite: frankagym
+      suite/frankagym_task@_global_: insertion
+      agent: diffusion
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: submitit_local
+      hydra/output: default
+  verbose: false

191332/.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- agent=diffusion
+- suite=frankagym
+- suite/frankagym_task@_global_=insertion

191332/eval_policy.log

@@ -0,0 +1,15 @@
+[2024-12-11 19:13:32,823][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_policy.py:428: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_path='cfgs', config_name='config_eval')
+
+[2024-12-11 19:13:32,826][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_policy.py:365: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(
+
+[2024-12-11 19:13:36,207][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_policy.py:414: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  payload = torch.load(f)
+

191334/.hydra/config.yaml

@@ -0,0 +1,349 @@
+root_dir: /home/${oc.env:USER}/fish_leon
+nstep: 3
+seed: 41
+dataset_shuffle_seed: ${seed}
+device: cuda
+save_video: true
+save_buffer: true
+use_tb: true
+baseline: false
+use_wandb: true
+eval: true
+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: 0.105
+env_dtc_max_value: 0.425
+grasped_normals_mask_max_dtc_value: 0.105
+env_normals_mask_max_dtc_value: 0.425
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: false
+contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+num_eval: 5
+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
+random_start: false
+eval_starts: ${root_dir}/FISH/eval_starts/${suite.name}_${obs_type}/${task_name}
+train_demo_idxs_list_or_num: null
+num_valid_demos: null
+val_num_groups: 3
+name_of_expert_demo: 192_240x320_multiobj_twodim_recovery_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}
+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}
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+bc_regularize: false
+bc_weight_type: qfilter
+load_checkpoint: ${agent.load_checkpoint}
+wandb_run_id: '266406_0'
+true_action_history: false
+wandb_notes: null
+checkpoint_epoch: 12000
+load_residual_weight: false
+checkpoint_root_dir: /home/${oc.env:USER}/fish_leon/FISH
+checkpoint_weight_dir: ${checkpoint_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+residual_weight: ${root_dir}/FISH/weights/${suite.name}_${obs_type}/${task_name}/weight.pt
+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}
+  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_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 36
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      input_shapes:
+        observation.image: ${agent.config.cam_resize_shape}
+        context_observation.image: ${agent.config.cam_resize_shape}
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+      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: ${agent.config.policy_cfg.n_action_steps}
+        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
+    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: constant
+      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: ${agent.config.train_cfg.lr}
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 2010
+  num_seed_frames: 260
+  num_train_epochs: 5000
+  validate_every_epochs: 100
+  validate_diffusion_on_action_loss_every_epochs: 500
+  train_eval_diffusion_on_action_loss_every_epochs: 500
+  check_topk_every_epochs: 10
+  save_snapshot_every_epochs: 5000
+  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}
+    agent_policy_cfg: ???
+    true_action_history: ${true_action_history}
+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: 5000
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 25
+validate_diffusion_on_action_loss_every_epochs: 50
+train_eval_diffusion_on_action_loss_every_epochs: 500
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: ${validate_diffusion_on_action_loss_every_epochs}
+save_snapshot_every_epochs_diffusion: 5000
+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

191334/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${experiment_dir}/${now:%H%M%S}
+  sweep:
+    dir: ${experiment_dir}/${now:%H%M%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${experiment_dir}/${now:%H%M%S}/.slurm
+    timeout_min: 60
+    cpus_per_task: null
+    gpus_per_node: null
+    tasks_per_node: 1
+    mem_gb: null
+    nodes: 1
+    name: ${hydra.job.name}
+    stderr_to_stdout: false
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - agent=diffusion
+    - suite=frankagym
+    - suite/frankagym_task@_global_=insertion
+  job:
+    name: eval_robot
+    chdir: true
+    override_dirname: agent=diffusion,suite/frankagym_task@_global_=insertion,suite=frankagym
+    id: ???
+    num: ???
+    config_name: config_eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/leonmkim/fish_leon/FISH
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/leonmkim/fish_leon/FISH/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334
+    choices:
+      suite: frankagym
+      suite/frankagym_task@_global_: insertion
+      agent: diffusion
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: submitit_local
+      hydra/output: default
+  verbose: false

191334/.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- agent=diffusion
+- suite=frankagym
+- suite/frankagym_task@_global_=insertion

191334/episode_rosbags/aligned_depth_to_color_K.npy

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191334/episode_zarrs/episode_0_2024-12-11-19-14-01.zarr/.zgroup

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+    "zarr_format": 2
+}

191334/episode_zarrs/episode_0_2024-12-11-19-14-01.zarr/data/.zgroup

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+{
+    "zarr_format": 2
+}

191334/eval_robot.log

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+[2024-12-11 19:13:34,754][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:503: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_path='cfgs', config_name='config_eval')
+
+[2024-12-11 19:13:34,757][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:439: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(
+

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+2024-12-11 19:13:40,917 INFO    MainThread:773302 [wandb_init.py:init():720] updated telemetry
+2024-12-11 19:13:40,923 INFO    MainThread:773302 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2024-12-11 19:13:41,191 INFO    MainThread:773302 [wandb_run.py:_on_init():2435] communicating current version
+2024-12-11 19:13:41,259 INFO    MainThread:773302 [wandb_run.py:_on_init():2444] got version response upgrade_message: "wandb version 0.19.0 is available!  To upgrade, please run:\n $ pip install wandb --upgrade"
+
+2024-12-11 19:13:41,261 INFO    MainThread:773302 [wandb_init.py:init():804] starting run threads in backend
+2024-12-11 19:13:41,616 INFO    MainThread:773302 [wandb_run.py:_console_start():2413] atexit reg
+2024-12-11 19:13:41,616 INFO    MainThread:773302 [wandb_run.py:_redirect():2255] redirect: wrap_raw
+2024-12-11 19:13:41,616 INFO    MainThread:773302 [wandb_run.py:_redirect():2320] Wrapping output streams.
+2024-12-11 19:13:41,617 INFO    MainThread:773302 [wandb_run.py:_redirect():2345] Redirects installed.
+2024-12-11 19:13:41,618 INFO    MainThread:773302 [wandb_init.py:init():847] run started, returning control to user process
+2024-12-11 19:13:41,619 INFO    MainThread:773302 [wandb_run.py:_tensorboard_callback():1544] tensorboard callback: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334/tb, True
+2024-12-11 19:13:45,500 INFO    MainThread:773302 [wandb_run.py:_config_callback():1382] config_cb None None {'grasped_obj_name': 'hbm', 'left_book_slot': 'twodim'}
+2024-12-11 19:18:28,045 WARNING MsgRouterThr:773302 [router.py:message_loop():77] message_loop has been closed

191334/wandb/run-20241211_191340-l07wa4hd/files/code/FISH/eval_robot.py

@@ -0,0 +1,512 @@
+#%%
+import warnings
+import os
+
+os.environ['MKL_SERVICE_FORCE_INTEL'] = '1'
+os.environ['MUJOCO_GL'] = 'egl'
+from pathlib import Path
+#%%
+import hydra
+import numpy as np
+import torch
+
+import utils
+from utils import get_feature_dirname_from_configs
+
+from video import VideoRecorder
+import pickle
+import time
+import threading
+import shutil
+from logger import Logger
+
+import wandb 
+from omegaconf import OmegaConf, open_dict
+
+from replay_buffer_robot import RosbagEvalReplayBufferStorage
+from lerobot.common.utils.utils import _relative_path_between
+
+torch.backends.cudnn.benchmark = True
+warnings.filterwarnings('ignore', category=DeprecationWarning)
+
+# import specs for replay buffer
+from dm_env import specs
+
+import sys, signal
+import yaml
+
+# get path of current file
+current_path = os.path.dirname(os.path.realpath(__file__))
+sys.path.append(os.path.join(current_path, os.pardir))
+# from contact_estimation.src.utils.viz_utils import normalized_surface_normal_to_rgb, depth_map_to_im, grasped_env_dtc_map_to_im, contact_prob_map_to_im, desaturate_color_image, masked_overlay_im_list
+
+def make_agent(obs_spec, action_spec, cfg):
+	cfg.obs_shape = obs_spec['pixels'].shape
+	dataset_statistics = None # this will be loaded from the checkpoint
+	try:
+		cfg.action_shape = action_spec.shape
+	except:
+		pass
+	return hydra.utils.instantiate(cfg, dataset_statistics)
+
+class Workspace:
+	def __init__(self, cfg):
+		self.work_dir = Path.cwd()
+		print(f'workspace: {self.work_dir}')
+		
+		signal.signal(signal.SIGINT, self.signal_handler)
+		
+		self.cfg = cfg
+		self.loading_uncompiled_checkpoint_with_compile = False
+		self.loading_compiled_checkpoint_with_no_compile = False
+
+		snapshot_path = Path(self.cfg.checkpoint_weight_dir) / f'snapshot_{self.cfg.checkpoint_epoch}.pt' 
+		self.load_checkpoint_conf(snapshot_path=snapshot_path)
+
+		# load config for action trajectories
+		utils.set_seed_everywhere(self.cfg.seed)
+		self.device = torch.device(self.cfg.device)
+		self.setup()
+
+		# self.agent = make_agent(self.eval_env.observation_spec(),
+		# 						self.eval_env.action_spec(), self.cfg.agent)
+		self.timer = utils.Timer()
+		# self._global_step = 0
+		self._global_episode = 0
+		self._global_epoch = 0
+		self.num_episode_successes = 0
+
+		# Need to convert hydra config to primitive container for wandb https://docs.wandb.ai/guides/integrations/hydra
+		with open_dict(self.cfg):
+			self.cfg.feature_type = get_feature_dirname_from_configs(
+				hydra.utils.instantiate(self.cfg.agent.config.observation_cfg), 
+				self.cfg.agent.config.policy_cfg.input_shapes,
+				hydra.utils.instantiate(self.cfg.agent.config.policy_cfg.action_history_encoder_config) if 'observation.action_history' in self.cfg.agent.config.policy_cfg.input_shapes else None,
+			)
+
+		wandb_config = OmegaConf.to_container(
+			self.cfg, resolve=True, throw_on_missing=True
+		)
+		# must be called before any tf summary writer is created
+		if self.cfg.use_wandb:
+			wandb.init(project='extrinsic_contact_downstream', entity='serialexperimentsleon', job_type='eval', sync_tensorboard=self.cfg.use_tb, config=wandb_config)
+
+		self.logger = Logger(self.work_dir, use_tb=self.cfg.use_tb, use_wandb=self.cfg.use_wandb)
+
+		# if not self.loading_uncompiled_checkpoint_with_compile and self.cfg.agent.config.compile:
+		# 	self.agent.compile_modules()
+			
+		# self.load_checkpoint(snapshot_path=snapshot_path)
+
+		# if self.loading_uncompiled_checkpoint_with_compile: # need to call compile after loading the checkpoint
+		# 	self.agent.compile_modules()
+
+		print(f"loaded agent with feature_type: {self.cfg.feature_type}")
+
+	def check_for_key_press(self):
+		while self.continue_keypress_thread:
+			inp = input("Press 'r' to restart current episode, 'n' to stop current episode and skip to next, 'q' to break entire eval\n")
+			if inp == 'n':
+				self.preempt_episode = True
+				print("preempting episode")
+			elif inp in ['', '0', '1']: # enter key
+				if inp in ['0', '1']:
+					self.num_episode_successes += int(inp)
+				self.proceed_after_env_reset_event.set()
+				print("proceeding to start episode!")
+			elif inp == 'q':
+				self.proceed_after_env_reset_event.set()
+				self.preempt_episode = True
+				self.exit_eval = True
+				self.continue_keypress_thread = False # will stop the keypress thread
+				print("quitting eval")
+				break
+			elif inp == 'r':
+				print('restarting episode')
+				self.preempt_episode = True
+				self.restart_episode = True
+			else:
+				print("Invalid key press, try again")
+		
+		# self.keypress_input_thread.join() # wait for the keypress thread to finish
+
+	def signal_handler(self, signal, frame):
+		print("\nprogram exiting gracefully")
+		self.proceed_after_env_reset_event.set()
+		self.preempt_episode = True
+		self.exit_eval = True
+		self.continue_keypress_thread = False # will stop the keypress thread
+		self.keypress_input_thread.join() # wait for the keypress thread to finish
+		video_filepath = self.video_recorder.save()
+		# get the video file and convert to video tensor to log 
+		self.logger.log_video('eval/video', video_filepath, self.global_step)
+		sys.exit(0)
+		
+	def setup(self):
+		# create envs
+		self.eval_env = hydra.utils.call(self.cfg.suite.task_make_fn)
+		# expert_demo_config_path = os.path.join(os.path.dirname(self.cfg.expert_dataset), 'demo_config.yaml')
+		# self.expert_demo_config = yaml.load(open(expert_demo_config_path, 'r'), Loader=yaml.FullLoader)
+		# self.eval_env._env.action_trans_norm = expert_demo_config['max_translation_action_norm']
+		# self.eval_env._env.action_rot_norm = expert_demo_config['max_rotation_action_norm']
+		# self.eval_env._env.action_period = expert_demo_config['sample_period']
+		# print(f"setting max_translation_action_norm to {expert_demo_config['max_translation_action_norm']} and sample_period to {expert_demo_config['sample_period']}")
+		# print(f"setting max_rotation_action_norm to {expert_demo_config['max_rotation_action_norm']}")
+
+		# self.eval_env.set_demo_params(self.cfg.expert_dataset)
+
+		# Turn off random start
+		self.eval_env.random_start = False
+
+		# create replay buffer
+		# data_specs = [
+		# 	{
+		# 		'observation': self.eval_env.observation_spec(),
+		# 	},
+		# 	# self.eval_env.observation_spec()['features'],
+		# 	self.eval_env.action_spec(),
+		# 	specs.Array(self.eval_env.action_spec().shape, self.eval_env.action_spec().dtype, 'vinn_action'), 
+		# 	specs.Array((1, ), np.float32, 'reward'),
+		# 	specs.Array((1, ), np.float32, 'discount'),
+		# ]
+
+		# self.eval_replay_storage = ZarrEvalReplayBufferStorage(data_specs, self.work_dir / 'eval_buffer', debug_timestamps=self.cfg.debug_timestamps, save_buffer=self.cfg.save_buffer, debug_info_data_specs=self.eval_env.debug_info_data_specs, camera_info_dict=self.eval_env.get_camera_info_dict())
+		self.eval_replay_storage = RosbagEvalReplayBufferStorage(self.work_dir)
+
+		self.video_recorder = VideoRecorder(
+			self.work_dir if self.cfg.save_video else None,
+			ros_enabled=True,
+			fps=self.cfg.agent.config.policy_frequency,
+			)
+		
+		print('workspace setup complete')
+		
+	@property
+	def global_step(self):
+		# return self._global_step
+		return self.eval_env.get_global_step()
+
+	@property
+	def global_episode(self):
+		return self._global_episode
+
+	@property
+	def global_frame(self):
+		return self.global_step * self.cfg.action_repeat
+
+	@property
+	def global_epoch(self):
+		return self._global_epoch
+	
+	def reset(self, eval_idx):
+		if not self.eval_env.enable_arm:
+			return np.array([0,0,0], dtype=np.float32)
+		self.eval_env.arm_refresh(reset=False)
+		# Set start position
+		try:
+			self.eval_env.set_position(self.start_pos[eval_idx])
+		except:
+			self.eval_env.arm.set_position(self.start_pos[eval_idx])
+			if self.eval_env.arm.keep_gripper_closed:
+				self.eval_env.arm.close_gripper_fully()
+			else:
+				self.eval_env.arm.open_gripper_fully()
+		time.sleep(0.1)		
+		time_step = self.eval_env.step(np.zeros(self.eval_env.action_spec().shape[0], dtype=np.float32),
+									   np.zeros(self.eval_env.action_spec().shape[0], dtype=np.float32))	
+		return time_step
+
+	def eval(self):
+		# before evals start, prompt user for name of grasped object and the left book of the slot location
+		grasped_obj_name = input("Enter the name of the grasped object: ")
+		left_book_slot = input("Enter the left book slot location: ")
+		# update wandb config
+		if self.cfg.use_wandb:
+			wandb.config.update({'grasped_obj_name': grasped_obj_name, 'left_book_slot': left_book_slot})
+
+		self.preempt_episode = False
+		self.exit_eval = False
+		self.restart_episode = False
+
+		self.continue_keypress_thread = True
+		self.proceed_after_env_reset_event = threading.Event()
+		self.keypress_input_thread = threading.Thread(target=self.check_for_key_press)
+		self.keypress_input_thread.start()
+
+		# # Set model to eval mode
+		# self.agent.train(False)
+		
+		eval_until_episode = utils.Until(self.cfg.num_eval)
+
+		self.use_action_history = False
+		# if "dp" in repr(self.agent) and "observation.action_history" in self.cfg.agent.config.policy_cfg.input_shapes:
+		if "observation.action_history" in self.cfg.agent.config.policy_cfg.input_shapes:
+			self.use_action_history = True
+
+		# self.eval_replay_storage._new_eval_step(0)
+
+		# if 'vinn' in repr(self.agent) or 'openloop' in repr(self.agent):
+		# 	with open(self.cfg.expert_dataset, 'rb') as f:
+		# 		if self.cfg.obs_type == 'pixels':
+		# 			self.expert_demo, _, self.expert_action, self.expert_reward = pickle.load(f)
+		# 		elif self.cfg.obs_type == 'features':
+		# 			_, self.expert_demo, self.expert_action, self.expert_reward = pickle.load(f)
+				
+		# 		if self.cfg.action_trajectories:
+		# 			with open(self.cfg.expert_action_trajectories, 'rb') as f:
+		# 				self.expert_action = pickle.load(f)
+
+		# 		if isinstance(self.cfg.train_demo_idxs_list_or_num, int):
+		# 			if self.cfg.train_demo_idxs_list_or_num == -1:
+		# 				self.cfg.train_demo_idxs_list_or_num = len(self.expert_demo)
+		# 			train_demo_idxs_list_or_num = list(range(self.cfg.train_demo_idxs_list_or_num))
+				
+		# 		self.expert_demo = self.expert_demo[train_demo_idxs_list_or_num]
+		# 		self.expert_action = self.expert_action[train_demo_idxs_list_or_num]
+		# 		self.expert_reward = self.expert_reward[train_demo_idxs_list_or_num]
+		# 		# if self.cfg.action_plans:
+		# 		# 	self.expert_action_plans = self.expert_action_plans[self.cfg.train_demo_idxs_list_or_num]
+		# 		# self.expert_demo = self.expert_demo[:self.cfg.num_demos]
+		# 		# self.expert_action = self.expert_action[:self.cfg.num_demos]
+		# 		# self.expert_reward = self.expert_reward[:self.cfg.num_demos]
+
+		# 		self.expert_demo = np.concatenate(self.expert_demo, axis=0)
+		# 		self.expert_rgb_obs = np.ascontiguousarray(np.transpose(self.expert_demo, (0,2,3,1))[:, :,:,:3].astype(np.uint8))
+		# 		self.expert_action = np.concatenate(self.expert_action, axis=0)
+				
+		# 		self.agent.save_representations(self.expert_demo, self.expert_action, 128, config=self.expert_demo_config)
+		
+		# Get start points
+		if self.cfg.random_start:
+			eval_starts = Path(self.cfg.eval_starts) / 'starts.pkl'
+			if eval_starts.exists():
+				with eval_starts.open('rb') as f:
+					self.start_pos = pickle.load(f)
+			else:
+				eval_starts = Path(self.cfg.eval_starts)
+				eval_starts.mkdir(parents=True, exist_ok=True)
+				
+				# Generate start points
+				self.start_pos = []
+				try:
+					for _ in range(self.cfg.num_eval):
+						self.start_pos.append(self.eval_env.get_random_pos())
+				except:
+					for _ in range(self.cfg.num_eval):
+						self.start_pos.append(self.eval_env.arm.get_random_pos())
+
+				# Save start points for the task
+				eval_starts = eval_starts / 'starts.pkl'
+				with eval_starts.open('wb') as f:
+					pickle.dump(self.start_pos, f)
+
+		time_step = self.eval_env.reset()
+		# replay_thread = None
+		while eval_until_episode(self.global_episode) and not self.exit_eval:
+			# self.video_recorder.init(self.eval_env, video_filename=f'{self.global_episode}_eval.mp4')
+			print(f"Starting episode {self.global_episode}")
+			time_step = self.eval_env.reset() #Leon: need to call reset twice in case objects are trapped
+			self.video_recorder.init(self.eval_env, video_filename=f'{self.global_episode}_eval.mp4')
+			# x = input("Press Enter to continue... after reseting env")
+			print("Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success")
+			self.proceed_after_env_reset_event.clear() # clear the event flag
+			self.proceed_after_env_reset_event.wait() # blocking wait for the event flag to be set
+			if self.global_episode > 0:
+				self.logger.log_metrics({'num_success': self.num_episode_successes}, self.global_step, 'eval', episode=self.global_episode)
+				self.logger.log_metrics({'success_rate': self.num_episode_successes/self.global_episode}, self.global_step, 'eval', episode=self.global_episode)
+			time_step = self.eval_env.reset()
+			# debug_info_dict = self.eval_env.debug_info_dict
+			# if replay_thread is not None:
+			# 	# wait for the last replay thread to finish
+			# 	replay_thread.join()
+
+			# self.eval_replay_storage.add(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict)
+			# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict))
+			# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step, debug_info_dict))
+
+			# replay_thread.start()
+			if self.cfg.random_start:
+				time_step = self.reset(self.global_episode)
+				time.sleep(2) #5)
+			# if 'vinn' in repr(self.agent):
+			# 	self.agent.reset()
+			# 	# self.agent.buffer.reset()
+			# 	# if self.cfg.open_loop:
+			# 	# 	self.agent.current_step = 0
+			# if 'openloop' in repr(self.agent):
+			# 	self.agent.curr_step = 0
+			# at start of each episode, provide zero action for policies that use action history
+			# shape should be (T_o, T_a, action_dim)
+
+			# while not time_step.last() and not self.preempt_episode:
+			self.video_recorder.ros_start_recording()
+			self.eval_replay_storage.start_episode()
+			self.eval_env.start_policy_timer()
+			while not self.eval_env.episode_done() and not self.preempt_episode:
+				# with torch.no_grad(), utils.eval_mode(self.agent):
+				# 	# if self.cfg.agent.provide_topk:
+				# 	# 	action, vinn_action, topk = self.agent.act(
+				# 	# 		time_step.observation['pixels'],
+				# 	# 		self.global_step,
+				# 	# 		eval_mode=True)
+				# 	# elif self.cfg.agent.provide_obs:
+				# 	# 	action, vinn_action, obs = self.agent.act(
+				# 	# 		time_step.observation['pixels'],
+				# 	# 		self.global_step,
+				# 	# 		eval_mode=True)
+				# 	# else:
+				# 	action, vinn_action = self.agent.act(
+				# 		time_step.observation,
+				# 		self.global_step,
+				# 		eval_mode=True,
+				# 		obs_timestamp=time_step.observation['timestamp'],
+				# 		obs_seq=time_step.observation['seq'],
+				# 		action_history=action_history,
+				# 		action_history_start_timestamp=action_history_start_timestamp,
+				# 		)
+					# DONT WAIT FOR POLICY TO GET AN ACTION 
+					# we dont want to slow down grabbing obs and passing to sam/contact features
+
+				self.eval_env.run_policy_threads() # this just does a rospy sleep
+					
+				# if self.use_action_history:
+				# 	action_history_start_timestamp = time_step.observation['timestamp']
+				# 	# action_history = action[:self.cfg.agent.config.policy_cfg.action_history_encoder_config.history_length, ...]		
+				# 	# add n_obs_steps dimension to action_history, for now we assume n_obs_steps = 1
+				# 	# TODO: handle n_obs_steps > 1
+				# 	action_history = action[np.newaxis, ...]
+
+				# time_step = self.eval_env.step(action, vinn_action) # obs, reward after action has been taken
+				# debug_info_dict = self.eval_env.debug_info_dict
+				
+				# time_step = self.eval_env.ros_step()
+				
+				# replay_thread.join()
+
+				# time how long it takes to execute the step
+				# time_before_add = time.perf_counter()
+				# self.eval_replay_storage.add(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict)
+				# use thread to call the add function in a separate thread
+				# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict))
+
+				# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step, debug_info_dict))
+				# replay_thread.start()
+				
+				# print(f"Time to add to replay buffer: {time.perf_counter() - time_before_add}")
+
+				# self.video_recorder.record(self.eval_env)
+				# self._global_step += 1
+			
+			self.eval_env.stop_policy_timer()
+			
+			if self.restart_episode:
+				# means we should delete the current episode and start again
+				self.restart_episode = False
+				self.eval_replay_storage.reset_current_episode()
+				self.video_recorder.reset_current_episode()
+
+			else:
+				self.eval_replay_storage.store_current_episode()
+				video_filepath = self.video_recorder.save()
+				self.logger.log_video(f"eval/{video_filepath.name.rstrip('.mp4')}", video_filepath, self.global_step)
+				self._global_episode += 1
+			
+			self.preempt_episode = False # reset preempt_episode flag
+		
+		# self.video_recorder.save(f'{episode}_eval.mp4')
+		# get the video file and convert to video tensor to log 
+
+		self.eval_env.reset()
+		
+		print("Evaluation finished. To wrap up, rate prev episode, press 0 for failure and 1 for success")
+		self.proceed_after_env_reset_event.clear() # clear the event flag
+		self.proceed_after_env_reset_event.wait() # blocking wait for the event flag to be set
+		if self.global_episode > 0:
+			# self.logger.log_metrics({'num_success': self.num_episode_successes}, self.global_step, 'eval', episode=self.global_episode)
+			self.logger.log_metrics({'num_success': self.num_episode_successes}, self.global_step, 'eval', episode=self.global_episode)
+			self.logger.log_metrics({'success_rate': self.num_episode_successes/self.global_episode}, self.global_step, 'eval', episode=self.global_episode)
+			
+		self.continue_keypress_thread = False # will stop the keypress thread
+		self.keypress_input_thread.join() # wait for the keypress thread to finish
+
+	def load_checkpoint_conf(self, snapshot_path):
+		config_path = snapshot_path.parent / 'config.yaml'
+		if not config_path.exists():
+			raise FileNotFoundError(f'No snapshot conf found at {config_path}')
+		else:
+			# load the omegaconf config
+			hydra.core.global_hydra.GlobalHydra.instance().clear()
+			hydra.initialize(
+				str(_relative_path_between(Path(config_path).absolute().parent, Path(__file__).absolute().parent)),
+			)
+			cfg = hydra.compose(Path(config_path).stem)
+			from deepdiff import DeepDiff
+			from omegaconf import open_dict
+			diff = DeepDiff(OmegaConf.to_container(cfg), OmegaConf.to_container(self.cfg)) # old, new
+			# import re
+			overwriteable_keys = [f"root{overwritable_key}" for overwritable_key in ["['use_wandb']", "['path_to_depth_extrinsics']", "['eval']", "['root_dir']", "['wandb_notes']", "['agent']['config']['train_cfg']['use_amp']", "['agent']['config']['compile']", "['agent']['config']['policy_cfg']['num_inference_steps']"]]
+			if "values_changed" in diff:
+				# top_k_checkpoints, wandb_notes, agent.config.train_cfg.use_amp, save_snapshot_every_epochs_diffusion, check_topk_every_epochs_diffusion, validate_diffusion_on_action_loss_every_epochs, train_eval_diffusion_on_action_loss_every_epochs, validate_every_epochs_diffusion
+				# for keys above, overwrite the old config with the new config
+				for k, v in diff['values_changed'].items():
+					# replace any keys that are under "root['suite']"
+					if k in overwriteable_keys or k.startswith("root['suite']"):
+						print(f"Found changed key {k} with value {v}. Overwriting old checkpoint config")
+						if k == "root['agent']['config']['compile']":
+							if diff['values_changed'][k]['new_value']:
+								self.loading_uncompiled_checkpoint_with_compile = True
+							elif not diff['values_changed'][k]['new_value']:
+								# raise ValueError("Cannot load a compiled checkpoint without compile")
+								self.loading_compiled_checkpoint_with_no_compile = True
+						exec(f"{k.replace('root[', 'cfg[')} = {k.replace('root[', 'self.cfg[')}")
+			# for any new values, update the old checkpoint config
+			if "dictionary_item_added" in diff:
+				for new_key in diff['dictionary_item_added']: # this is a list
+					# if new_key == "root['suite']['task_make_fn']['observation_cfg']":
+					if new_key == "root['suite']['task_make_fn']['agent_policy_cfg']":
+						# pass the agents observation_cfg to the suite task_make_fn
+						with open_dict(cfg): # to allow addition of non-existing keys
+							# cfg.suite.task_make_fn.observation_cfg = cfg.agent.config.observation_cfg
+							cfg.suite.task_make_fn.agent_policy_cfg = cfg.agent.config
+						continue
+					elif "['agent']['config']['policy_cfg']['input_shapes']" in new_key:
+						# skip adding the new key if it is the input_shapes of the policy_cfg
+						continue
+					else:
+						print(f"Found new key {new_key} with value {eval(new_key.replace('root[', 'self.cfg['))}. Adding to checkpoint config")
+					# eval(new_key.replace('root', 'cfg')) = eval(new_key.replace('root', 'self.cfg'))
+					if new_key == "root['agent']['config']['compile']":
+						if self.cfg.agent.config.compile:
+							self.loading_uncompiled_checkpoint_with_compile = True
+					
+					with open_dict(cfg):
+						exec(f"{new_key.replace('root[', 'cfg[')}={new_key.replace('root[', 'self.cfg[')}")
+			self.cfg = cfg
+
+	def load_checkpoint(self, snapshot_path, bc=False):
+		print(f'resuming {repr(self.agent)}: {snapshot_path}')
+		with snapshot_path.open('rb') as f:
+			payload = torch.load(f)
+		agent_payload = {}
+		for k, v in payload.items():
+			if k not in self.__dict__:
+				agent_payload[k] = v
+			elif k == '_global_epoch':
+				self._global_epoch = v
+				print(f'loaded epoch: {v}')
+				if self.cfg.use_wandb:
+					# add to config of wandb
+					wandb.config.update({'epoch': v})
+
+		# self.agent.load_snapshot_eval(agent_payload, bc)
+
+@hydra.main(config_path='cfgs', config_name='config_eval')
+def main(cfg):
+	from eval_robot import Workspace as W
+	root_dir = Path.cwd()
+	workspace = W(cfg)
+
+	workspace.eval()
+
+if __name__ == '__main__':
+	main()

191334/wandb/run-20241211_191340-l07wa4hd/files/config.yaml

@@ -0,0 +1,966 @@
+wandb_version: 1
+
+root_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon
+replay_buffer_size:
+  desc: null
+  value: 150000
+replay_buffer_num_workers:
+  desc: null
+  value: 2
+nstep:
+  desc: null
+  value: 3
+batch_size:
+  desc: null
+  value: 128
+seed:
+  desc: null
+  value: 0
+dataset_shuffle_seed:
+  desc: null
+  value: 2
+device:
+  desc: null
+  value: cuda
+save_video:
+  desc: null
+  value: true
+save_train_video:
+  desc: null
+  value: true
+use_tb:
+  desc: null
+  value: true
+use_wandb:
+  desc: null
+  value: true
+wandb_run_id:
+  desc: null
+  value: '266406_0'
+wandb_notes:
+  desc: null
+  value: '266406_0_'
+eval:
+  desc: null
+  value: true
+process_contact_features:
+  desc: null
+  value: true
+obs_type:
+  desc: null
+  value: pixels
+use_color:
+  desc: null
+  value: true
+use_depth:
+  desc: null
+  value: true
+use_masks:
+  desc: null
+  value: false
+mask_list:
+  desc: null
+  value:
+  - EE_obj_mask
+mask_representation:
+  desc: null
+  value: channels
+crop_hw:
+  desc: null
+  value:
+  - 144
+  - 144
+crop_down_offset:
+  desc: null
+  value: 48
+color_crop_type:
+  desc: null
+  value: null
+depth_crop_type:
+  desc: null
+  value: null
+segmask_crop_type:
+  desc: null
+  value: null
+add_crop_binary_mask:
+  desc: null
+  value: false
+add_coord_conv_map:
+  desc: null
+  value: false
+use_context_color:
+  desc: null
+  value: false
+use_context_depth:
+  desc: null
+  value: false
+use_context_segmask:
+  desc: null
+  value: false
+context_color_crop_type:
+  desc: null
+  value: null
+context_depth_crop_type:
+  desc: null
+  value: null
+context_segmask_crop_type:
+  desc: null
+  value: null
+context_add_crop_binary_mask:
+  desc: null
+  value: false
+context_add_coord_conv_map:
+  desc: null
+  value: false
+use_contact_map:
+  desc: null
+  value: false
+use_sdf_maps:
+  desc: null
+  value: false
+use_normals_maps:
+  desc: null
+  value: false
+which_objects:
+  desc: null
+  value: both
+max_contact_prob:
+  desc: null
+  value: 0.1
+max_depth:
+  desc: null
+  value: 2.0
+grasped_dtc_max_value:
+  desc: null
+  value: 0.2
+env_dtc_max_value:
+  desc: null
+  value: 0.4
+grasped_normals_mask_max_dtc_value:
+  desc: null
+  value: 0.2
+env_normals_mask_max_dtc_value:
+  desc: null
+  value: 0.4
+clamp_dtc:
+  desc: null
+  value: true
+dtc_adaptive_normalization:
+  desc: null
+  value: false
+mask_normals_within_sdf:
+  desc: null
+  value: true
+adaptive_normals_mask:
+  desc: null
+  value: true
+learnable_contact_preprocess_params:
+  desc: null
+  value: true
+contact_model_name:
+  desc: null
+  value: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+contact_estimation_model_ckpt_path:
+  desc: null
+  value: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+encoder_type:
+  desc: null
+  value: small
+debug_timestamps:
+  desc: null
+  value: false
+open_loop:
+  desc: null
+  value: false
+action_trajectories:
+  desc: null
+  value: true
+stop_after_action:
+  desc: null
+  value: false
+interpolation_frequency:
+  desc: null
+  value: 25
+policy_frequency:
+  desc: null
+  value: 5
+wait_for_new_camera_frames:
+  desc: null
+  value: true
+baseline:
+  desc: null
+  value: false
+train_demo_idxs_list_or_num:
+  desc: null
+  value: -1
+log_train_every_steps:
+  desc: null
+  value: 25
+name_of_expert_demo:
+  desc: null
+  value: 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:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+store_dataset_in_memory:
+  desc: null
+  value: false
+expert_dataset:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+action_key:
+  desc: null
+  value: action_trajectory_25hz
+semantic_demo_grouping_name:
+  desc: null
+  value: semantic_demo_grouping.yaml
+semantic_demo_grouping:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/semantic_demo_grouping.yaml
+include_groups_list:
+  desc: null
+  value:
+  - hbm_twodim_left_to_right
+expert_dataset_config:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demo_config.yaml
+name_of_valid_demo:
+  desc: null
+  value: 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:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+valid_demo_idxs_list_or_num:
+  desc: null
+  value: null
+val_num_groups:
+  desc: null
+  value: 16
+load_bc:
+  desc: null
+  value: true
+checkpoint_epoch_list:
+  desc: null
+  value:
+  - 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:
+  desc: null
+  value: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
+save_snapshot:
+  desc: null
+  value: true
+save_last_snapshot:
+  desc: null
+  value: true
+save_snapshot_when_done:
+  desc: null
+  value: true
+top_k_checkpoints:
+  desc: null
+  value: 5
+save_snapshot_link_to_weights_dir:
+  desc: null
+  value: deprecated
+bc_regularize:
+  desc: null
+  value: false
+bc_weight_type:
+  desc: null
+  value: qfilter
+experiment_dir:
+  desc: null
+  value: ./exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0
+agent:
+  desc: null
+  value:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgent
+    name: diffusion_policy
+    load_checkpoint: true
+    obs_shape:
+    - 4
+    - 240
+    - 320
+    action_shape:
+    - 36
+    - 7
+    device: cuda
+    n_obs_steps: 1
+    suite_name: frankagym
+    obs_type: pixels
+    enable_arm: true
+    enable_camera: true
+    use_tb: true
+    desired_image_shape:
+    - 13
+    - 180
+    - 240
+    orig_cam_shape:
+    - 3
+    - 240
+    - 320
+    config:
+      _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+      compile: false
+      device: cuda
+      cam_resize_shape:
+      - 13
+      - 180
+      - 240
+      orig_cam_shape:
+      - 3
+      - 240
+      - 320
+      policy_frequency: 5
+      interpolation_frequency: 25
+      policy_cfg:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+        n_obs_steps: 1
+        horizon: 36
+        n_action_steps: 36
+        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: 5
+          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: 1000000
+        use_amp: true
+      observation_cfg:
+        _target_: agent.encoder.VisualFeatureSet
+        use_depth: true
+        use_color: true
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: false
+          representation: channels
+          mask_list:
+          - EE_obj_mask
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: null
+          depth_crop_type: null
+          segmask_crop_type: null
+          crop_hw:
+          - 144
+          - 144
+          crop_down_offset: 48
+          add_crop_binary_mask: false
+          add_coord_conv_map: false
+        context_input_config:
+          _target_: agent.encoder.ContextInputConfig
+          use_color: false
+          use_depth: false
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: false
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+        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: false
+        use_sdf_maps: false
+        use_normals_maps: false
+        which_objects: both
+        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
+        max_contact_prob: 0.1
+        mask_normals_within_sdf: true
+        dtc_adaptive_normalization: false
+        adaptive_normals_mask: true
+        max_depth: 2.0
+        image_shape:
+        - 13
+        - 180
+        - 240
+        learnable_contact_preprocess_params: true
+        learning_rate: 0.0001
+        weight_decay: 0.0
+        contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+        zero_centered: false
+suite:
+  desc: null
+  value:
+    suite: frankagym
+    name: frankagym
+    frame_stack: 1
+    action_repeat: 1
+    discount: 0.99
+    hidden_dim: 1024
+    num_train_frames: 2010
+    num_seed_frames: 260
+    num_train_epochs: 5000
+    validate_every_epochs: 100
+    validate_diffusion_on_action_loss_every_epochs: 500
+    train_eval_diffusion_on_action_loss_every_epochs: 500
+    check_topk_every_epochs: 10
+    save_snapshot_every_epochs: 5000
+    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: FrankaInsertion-v1
+      height: 240
+      width: 320
+      frame_stack: 1
+      action_repeat: 1
+      seed: 0
+      enable_arm: true
+      enable_gripper: true
+      start_with_gripper_open: true
+      enable_camera: true
+      path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+      contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+      x_limit:
+      - 0.2
+      - 0.7
+      y_limit:
+      - -0.4
+      - 0.4
+      z_limit:
+      - -0.05
+      - 0.55
+      device: cuda
+      interpolation_frequency: 25
+      policy_frequency: 5
+      debug_timestamps: false
+      stop_after_action: false
+      open_loop: false
+      wait_for_new_camera_frames: true
+      action_key: action_trajectory_25hz
+      action_trajectory_horizon: 36
+      action_trajectories: true
+      path_to_zarr_dataset: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+      observation_cfg:
+        _target_: agent.encoder.VisualFeatureSet
+        use_depth: true
+        use_color: true
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: false
+          representation: channels
+          mask_list:
+          - EE_obj_mask
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: null
+          depth_crop_type: null
+          segmask_crop_type: null
+          crop_hw:
+          - 144
+          - 144
+          crop_down_offset: 48
+          add_crop_binary_mask: false
+          add_coord_conv_map: false
+        context_input_config:
+          _target_: agent.encoder.ContextInputConfig
+          use_color: false
+          use_depth: false
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: false
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+        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: false
+        use_sdf_maps: false
+        use_normals_maps: false
+        which_objects: both
+        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
+        max_contact_prob: 0.1
+        mask_normals_within_sdf: true
+        dtc_adaptive_normalization: false
+        adaptive_normals_mask: true
+        max_depth: 2.0
+        image_shape:
+        - 13
+        - 180
+        - 240
+        learnable_contact_preprocess_params: true
+        learning_rate: 0.0001
+        weight_decay: 0.0
+        contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+        zero_centered: false
+      agent_policy_cfg:
+        _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+        compile: false
+        device: cuda
+        cam_resize_shape:
+        - 13
+        - 180
+        - 240
+        orig_cam_shape:
+        - 3
+        - 240
+        - 320
+        policy_frequency: 5
+        interpolation_frequency: 25
+        policy_cfg:
+          _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+          n_obs_steps: 1
+          horizon: 36
+          n_action_steps: 36
+          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: 5
+            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: 1000000
+          use_amp: true
+        observation_cfg:
+          _target_: agent.encoder.VisualFeatureSet
+          use_depth: true
+          use_color: true
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: false
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+          context_input_config:
+            _target_: agent.encoder.ContextInputConfig
+            use_color: false
+            use_depth: false
+            mask_input_dict:
+              _target_: agent.encoder.MaskInputDict
+              enable: false
+              representation: channels
+              mask_list:
+              - EE_obj_mask
+            crop_input_config:
+              _target_: agent.encoder.CropInputConfig
+              color_crop_type: null
+              depth_crop_type: null
+              segmask_crop_type: null
+              crop_hw:
+              - 144
+              - 144
+              crop_down_offset: 48
+              add_crop_binary_mask: false
+              add_coord_conv_map: false
+          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: false
+          use_sdf_maps: false
+          use_normals_maps: false
+          which_objects: both
+          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
+          max_contact_prob: 0.1
+          mask_normals_within_sdf: true
+          dtc_adaptive_normalization: false
+          adaptive_normals_mask: true
+          max_depth: 2.0
+          image_shape:
+          - 13
+          - 180
+          - 240
+          learnable_contact_preprocess_params: true
+          learning_rate: 0.0001
+          weight_decay: 0.0
+          contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+          zero_centered: false
+      true_action_history: false
+num_train_frames_bc:
+  desc: null
+  value: 50000
+num_train_frames_drq:
+  desc: null
+  value: 1100000
+stddev_schedule_drq:
+  desc: null
+  value: linear(1.0,0.1,100000)
+task_name:
+  desc: null
+  value: FrankaInsertion-v1
+num_train_frames_vinn:
+  desc: null
+  value: 25000
+num_train_frames_diffusion:
+  desc: null
+  value: 1000000
+num_train_epochs_bc:
+  desc: null
+  value: 5000
+num_train_epochs_diffusion:
+  desc: null
+  value: 15000
+validate_every_epochs_bc:
+  desc: null
+  value: 5
+validate_every_epochs_diffusion:
+  desc: null
+  value: 250
+validate_diffusion_on_action_loss_every_epochs:
+  desc: null
+  value: 250
+train_eval_diffusion_on_action_loss_every_epochs:
+  desc: null
+  value: 250
+check_topk_every_epochs:
+  desc: null
+  value: 5
+check_topk_every_epochs_diffusion:
+  desc: null
+  value: 250
+save_snapshot_every_epochs_diffusion:
+  desc: null
+  value: 1500
+x_limit:
+  desc: null
+  value:
+  - 0.2
+  - 0.7
+y_limit:
+  desc: null
+  value:
+  - -0.4
+  - 0.4
+z_limit:
+  desc: null
+  value:
+  - -0.05
+  - 0.55
+home_displacement:
+  desc: null
+  value:
+  - 0.55
+  - 0.0
+  - 0.55
+  - 180.0
+  - 0.0
+  - 0.0
+enable_gripper:
+  desc: null
+  value: true
+start_with_gripper_open:
+  desc: null
+  value: true
+offset_mask:
+  desc: null
+  value:
+  - 1
+  - 1
+  - 1
+  - 1
+  - 1
+  - 1
+path_to_depth_extrinsics:
+  desc: null
+  value: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+feature_type:
+  desc: null
+  value: 180x240_1_RGB_D_2.0_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+save_buffer:
+  desc: null
+  value: true
+num_eval:
+  desc: null
+  value: 5
+random_start:
+  desc: null
+  value: false
+eval_starts:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/eval_starts/frankagym_pixels/FrankaInsertion-v1
+num_valid_demos:
+  desc: null
+  value: null
+load_checkpoint:
+  desc: null
+  value: true
+true_action_history:
+  desc: null
+  value: false
+checkpoint_epoch:
+  desc: null
+  value: 12000
+load_residual_weight:
+  desc: null
+  value: false
+checkpoint_root_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH
+checkpoint_weight_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0
+residual_weight:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt
+_wandb:
+  desc: null
+  value:
+    code_path: code/FISH/eval_robot.py
+    python_version: 3.10.14
+    cli_version: 0.17.5
+    framework: torch
+    is_jupyter_run: false
+    is_kaggle_kernel: false
+    start_time: 1733962420
+    t:
+      1:
+      - 1
+      - 41
+      - 49
+      - 50
+      - 55
+      - 83
+      2:
+      - 1
+      - 41
+      - 49
+      - 50
+      - 55
+      - 83
+      3:
+      - 16
+      - 23
+      - 35
+      4: 3.10.14
+      5: 0.17.5
+      8:
+      - 5
+      13: linux-x86_64
+grasped_obj_name:
+  desc: null
+  value: hbm
+left_book_slot:
+  desc: null
+  value: twodim

191334/wandb/run-20241211_191340-l07wa4hd/files/diff.patch

@@ -0,0 +1,57 @@
+diff --git a/FISH/cfgs/config_eval.yaml b/FISH/cfgs/config_eval.yaml
+index 91f9f99..bb7c714 100644
+--- a/FISH/cfgs/config_eval.yaml
++++ b/FISH/cfgs/config_eval.yaml
+@@ -124,7 +124,17 @@ bc_weight_type: 'qfilter' # linear, qfilter
+ # Load weights
+ load_checkpoint: ${agent.load_checkpoint}
+ # 64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+-# full dataset
++# full 32 demos
++# wandb_run_id: "265625" # RGBD history seed 0
++# wandb_run_id: "266370_1" # RGBD history seed 1
++# wandb_run_id: "266370_2" # RGBD history seed 2
++# wandb_run_id: "266382_4" # RGBD history seed 4
++
++# 16 held out demos (16 demos)
++# wandb_run_id: "266392_0" # RGBD+act history dataset seed 0
++# wandb_run_id: "266407_0" # RGBD+act history dataset seed 1
++wandb_run_id: "266406_0" # RGBD+act history dataset seed 2
++
+ # wandb_run_id: "265626" # RGBD+Mask+act history seed 0
+ # wandb_run_id: "265638" # RGBD+Mask+act history seed 1
+ # wandb_run_id: "265637" # RGBD+Mask+act history seed 2
+@@ -135,7 +145,32 @@ load_checkpoint: ${agent.load_checkpoint}
+ # wandb_run_id: "265630" # RGBD+Mask+contact+act history seed 1
+ # wandb_run_id: "265631" # RGBD+Mask+contact+act history seed 2
+ # wandb_run_id: "265633" # RGBD+Mask+contact+act history seed 3
+-wandb_run_id: "265634" # RGBD+Mask+contact+act history seed 4
++# wandb_run_id: "265634" # RGBD+Mask+contact+act history seed 4
++
++# 8 held out demos (26 demos)
++# wandb_run_id: "265652" # RGBD+Mask+contact+act history dataset seed 0
++# wandb_run_id: "265654" # RGBD+Mask+contact+act history dataset seed 1
++# wandb_run_id: "265655" # RGBD+Mask+contact+act history dataset seed 2
++
++# 8 held out demos (26 demos)
++# wandb_run_id: "265656" # RGBD+Mask+act history dataset seed 0
++# wandb_run_id: "265657" # RGBD+Mask+act history dataset seed 1
++# wandb_run_id: "265658" # RGBD+Mask+act history dataset seed 2
++
++# 16 held out demos (16 demos)
++# wandb_run_id: "265641" # RGBD+Mask+act history dataset seed 0
++# wandb_run_id: "265644" # RGBD+Mask+act history dataset seed 1
++# wandb_run_id: "265645" # RGBD+Mask+act history dataset seed 2
++# wandb_run_id: "266381_0" # RGBD+Mask+act history dataset seed 4
++
++# 16 held out demos (16 demos)
++# wandb_run_id: "265646" # RGBD+Mask+Contact+act history dataset seed 0
++# wandb_run_id: "265649" # RGBD+Mask+Contact+act history dataset seed 1
++# wandb_run_id: "265650" # RGBD+Mask+Contact+act history dataset seed 2
++# wandb_run_id: "266378_0" # RGBD+Mask+Contact+act history dataset seed 4
++
++
++
+ 
+ # 54_240x320_hbm_twodim_fps_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+ # full dataset

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191334/wandb/run-20241211_191340-l07wa4hd/files/output.log

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+
+loaded agent with feature_type: 180x240_1_RGB_D_2.0_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+[INFO] [1733962425.501528]: resetting environment
+[INFO] [1733962425.503741]: cleared current plan
+[INFO] [1733962425.504970]: moving to home
+[INFO] [1733962426.507431]: reached home
+[INFO] [1733962426.508574]: reset action history
+[INFO] [1733962429.215545]: environment reset
+Starting episode 0
+[INFO] [1733962429.217764]: resetting environment
+[INFO] [1733962429.218818]: cleared current plan
+[INFO] [1733962429.219946]: moving to home
+[INFO] [1733962430.221876]: reached home
+[INFO] [1733962430.223264]: reset action history
+[INFO] [1733962432.930119]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!
+[INFO] [1733962437.294333]: resetting environment
+[INFO] [1733962437.296180]: cleared current plan
+[INFO] [1733962437.298259]: moving to home
+[INFO] [1733962438.300680]: reached home
+[INFO] [1733962438.301981]: reset action history
+[INFO] [1733962441.009679]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334/episode_rosbags/episode_0_2024-12-11-19-14-01.bag
+... logging to /home/leonmkim/.ros/log/1408e5ba-b74f-11ef-9a34-5546d6409a19/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-773302.log
+started roslaunch server http://158.130.50.37:46681/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-1]: started with pid [773570]
+process[print_text-2]: started with pid [773571]
+process[rosbag_record-3]: started with pid [773572]
+started bagging!
+For topic gripper_width: timestamp difference is -112948682 for nearest: 1733962447823948119 - target: 1733962447936896801 at idx 91
+For topic gripper_width: timestamp difference is -106565939 for nearest: 1733962455823925985 - target: 1733962455930491924 at idx 201
+For topic gripper_width: timestamp difference is -136166518 for nearest: 1733962460423930700 - target: 1733962460560097218 at idx 249
+[INFO] [1733962468.417341]: Storing episode...
+[rosbag_record-3] killing on exit
+[print_text-2] killing on exit
+[pub_text-1] killing on exit
+[INFO] [1733962469.138559]: Stored episode 1.
+[INFO] [1733962469.139868]: Saving video...
+[INFO] [1733962469.316209]: Video saved!
+Starting episode 1
+[INFO] [1733962469.330705]: resetting environment
+[INFO] [1733962469.331486]: cleared current plan
+[INFO] [1733962469.331859]: moving to home
+[INFO] [1733962472.136437]: reached home
+[INFO] [1733962472.136898]: reset action history
+[INFO] [1733962474.842866]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode![INFO] [1733962477.228348]: resetting environment
+[INFO] [1733962477.229371]: cleared current plan
+[INFO] [1733962477.230343]: moving to home
+[INFO] [1733962478.232135]: reached home
+[INFO] [1733962478.232627]: reset action history
+[INFO] [1733962480.939046]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334/episode_rosbags/episode_1_2024-12-11-19-14-40.bag
+... logging to /home/leonmkim/.ros/log/1408e5ba-b74f-11ef-9a34-5546d6409a19/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-773302.log
+started roslaunch server http://158.130.50.37:34167/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-4]: started with pid [773676]
+process[print_text-5]: started with pid [773700]
+process[rosbag_record-6]: started with pid [773701]
+started bagging!
+For topic gripper_width: timestamp difference is -127159754 for nearest: 1733962485323950132 - target: 1733962485451109886 at idx 61
+For topic gripper_width: timestamp difference is -155548493 for nearest: 1733962487723923047 - target: 1733962487879471540 at idx 95
+For topic gripper_width: timestamp difference is -148979598 for nearest: 1733962490923924274 - target: 1733962491072903872 at idx 138
+For topic gripper_width: timestamp difference is -140346101 for nearest: 1733962495123938271 - target: 1733962495264284372 at idx 193
+For topic gripper_width: timestamp difference is -131602562 for nearest: 1733962507323947870 - target: 1733962507455550432 at idx 249
+[INFO] [1733962508.326133]: Storing episode...
+[print_text-5] killing on exit
+[rosbag_record-6] killing on exit
+[pub_text-4] killing on exit
+[INFO] [1733962509.085617]: Stored episode 2.
+[INFO] [1733962509.086154]: Saving video...
+[INFO] [1733962509.572251]: Video saved!
+Starting episode 2
+[INFO] [1733962509.600026]: resetting environment
+[INFO] [1733962509.602875]: cleared current plan
+[INFO] [1733962509.604208]: moving to home
+[INFO] [1733962512.508029]: reached home
+[INFO] [1733962512.520455]: reset action history
+[INFO] [1733962515.294815]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode![INFO] [1733962546.139461]: resetting environment
+[INFO] [1733962546.141481]: cleared current plan
+[INFO] [1733962546.145852]: moving to home
+[INFO] [1733962547.149337]: reached home
+[INFO] [1733962547.156180]: reset action history
+[INFO] [1733962549.930298]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334/episode_rosbags/episode_2_2024-12-11-19-15-49.bag
+... logging to /home/leonmkim/.ros/log/1408e5ba-b74f-11ef-9a34-5546d6409a19/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-773302.log
+started roslaunch server http://158.130.50.37:36179/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-7]: started with pid [773830]
+process[print_text-8]: started with pid [773831]
+process[rosbag_record-9]: started with pid [773832]
+started bagging!
+For topic gripper_width: timestamp difference is -121712330 for nearest: 1733962560923941490 - target: 1733962561045653820 at idx 139
+For topic gripper_width: timestamp difference is -121584876 for nearest: 1733962561123918788 - target: 1733962561245503664 at idx 141
+For topic gripper_width: timestamp difference is -120972463 for nearest: 1733962561923882178 - target: 1733962562044854641 at idx 155
+For topic gripper_width: timestamp difference is -120303925 for nearest: 1733962562723903362 - target: 1733962562844207287 at idx 163
+For topic gripper_width: timestamp difference is -120126467 for nearest: 1733962562923921365 - target: 1733962563044047832 at idx 165
+For topic gripper_width: timestamp difference is -118874620 for nearest: 1733962564523924281 - target: 1733962564642798901 at idx 186
+For topic gripper_width: timestamp difference is -118712489 for nearest: 1733962564723919566 - target: 1733962564842632055 at idx 188
+For topic gripper_width: timestamp difference is -118241561 for nearest: 1733962565323890912 - target: 1733962565442132473 at idx 195
+For topic gripper_width: timestamp difference is -118048299 for nearest: 1733962565523924004 - target: 1733962565641972303 at idx 197
+For topic gripper_width: timestamp difference is -116245178 for nearest: 1733962567723945233 - target: 1733962567840190411 at idx 227
+For topic gripper_width: timestamp difference is -116117827 for nearest: 1733962567923913129 - target: 1733962568040030956 at idx 229
+For topic gripper_width: timestamp difference is -127329730 for nearest: 1733962569323927737 - target: 1733962569451257467 at idx 246
+For topic gripper_width: timestamp difference is -127051963 for nearest: 1733962569523921357 - target: 1733962569650973320 at idx 247
+For topic gripper_width: timestamp difference is -126704003 for nearest: 1733962569723874305 - target: 1733962569850578308 at idx 249
+For topic gripper_width: timestamp difference is -124603593 for nearest: 1733962570723923362 - target: 1733962570848526955 at idx 249
+For topic gripper_width: timestamp difference is -124237258 for nearest: 1733962570923874419 - target: 1733962571048111677 at idx 249
+For topic gripper_width: timestamp difference is -123743266 for nearest: 1733962571123941690 - target: 1733962571247684956 at idx 249
+For topic gripper_width: timestamp difference is -120467981 for nearest: 1733962572723877589 - target: 1733962572844345570 at idx 249
+For topic gripper_width: timestamp difference is -117876307 for nearest: 1733962573923932060 - target: 1733962574041808367 at idx 249
+For topic gripper_width: timestamp difference is -117449234 for nearest: 1733962574123925735 - target: 1733962574241374969 at idx 249
+For topic gripper_width: timestamp difference is -113736885 for nearest: 1733962575923909885 - target: 1733962576037646770 at idx 249
+For topic gripper_width: timestamp difference is -111240616 for nearest: 1733962577123951921 - target: 1733962577235192537 at idx 249
+For topic gripper_width: timestamp difference is -109266197 for nearest: 1733962578123926485 - target: 1733962578233192682 at idx 249
+For topic gripper_width: timestamp difference is -108846043 for nearest: 1733962578323920871 - target: 1733962578432766914 at idx 249
+For topic gripper_width: timestamp difference is -108465357 for nearest: 1733962578523910360 - target: 1733962578632375717 at idx 249
+[INFO] [1733962579.903526]: Storing episode...
+[rosbag_record-9] killing on exit
+[print_text-8] killing on exit
+[pub_text-7] killing on exit
+[INFO] [1733962580.680182]: Stored episode 3.
+[INFO] [1733962580.682516]: Saving video...
+[INFO] [1733962580.872804]: Video saved!
+Starting episode 3
+[INFO] [1733962580.928169]: resetting environment
+[INFO] [1733962580.932713]: cleared current plan
+[INFO] [1733962580.936045]: moving to home
+[INFO] [1733962583.645926]: reached home
+[INFO] [1733962583.649049]: reset action history
+[INFO] [1733962586.374455]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode![INFO] [1733962593.371608]: resetting environment
+[INFO] [1733962593.377288]: cleared current plan
+[INFO] [1733962593.381800]: moving to home
+[INFO] [1733962594.385959]: reached home
+[INFO] [1733962594.394051]: reset action history
+[INFO] [1733962597.128479]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334/episode_rosbags/episode_3_2024-12-11-19-16-37.bag
+... logging to /home/leonmkim/.ros/log/1408e5ba-b74f-11ef-9a34-5546d6409a19/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-773302.log
+started roslaunch server http://158.130.50.37:45191/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-10]: started with pid [773960]
+process[print_text-11]: started with pid [773961]
+process[rosbag_record-12]: started with pid [773962]
+started bagging!
+For topic gripper_width: timestamp difference is -120847381 for nearest: 1733962603223920905 - target: 1733962603344768286 at idx 85
+For topic gripper_width: timestamp difference is -120070887 for nearest: 1733962604223920869 - target: 1733962604343991756 at idx 94
+For topic gripper_width: timestamp difference is -123615073 for nearest: 1733962611223919822 - target: 1733962611347534895 at idx 184
+For topic gripper_width: timestamp difference is -123341762 for nearest: 1733962613023922003 - target: 1733962613147263765 at idx 208
+For topic gripper_width: timestamp difference is -120412883 for nearest: 1733962614423919860 - target: 1733962614544332743 at idx 230
+For topic gripper_width: timestamp difference is -114774633 for nearest: 1733962617223870825 - target: 1733962617338645458 at idx 249
+For topic gripper_width: timestamp difference is -110255338 for nearest: 1733962619423944138 - target: 1733962619534199476 at idx 249
+For topic gripper_width: timestamp difference is -108657950 for nearest: 1733962620223950035 - target: 1733962620332607985 at idx 249
+For topic gripper_width: timestamp difference is -103375911 for nearest: 1733962622823929311 - target: 1733962622927305222 at idx 249
+For topic gripper_width: timestamp difference is -101717214 for nearest: 1733962623623920460 - target: 1733962623725637674 at idx 249
+[INFO] [1733962627.005235]: Storing episode...
+[print_text-11] killing on exit
+[rosbag_record-12] killing on exit
+[pub_text-10] killing on exit
+[INFO] [1733962627.800546]: Stored episode 4.
+[INFO] [1733962627.805152]: Saving video...
+[INFO] [1733962628.022158]: Video saved!
+Starting episode 4
+[INFO] [1733962628.082338]: resetting environment
+[INFO] [1733962628.086639]: cleared current plan
+[INFO] [1733962628.089920]: moving to home
+[INFO] [1733962630.906424]: reached home
+[INFO] [1733962630.909156]: reset action history
+[INFO] [1733962633.755561]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode![INFO] [1733962636.027454]: resetting environment
+[INFO] [1733962636.031703]: cleared current plan
+[INFO] [1733962636.037811]: moving to home
+[INFO] [1733962637.049122]: reached home
+[INFO] [1733962637.054624]: reset action history
+[INFO] [1733962639.847857]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334/episode_rosbags/episode_4_2024-12-11-19-17-19.bag
+... logging to /home/leonmkim/.ros/log/1408e5ba-b74f-11ef-9a34-5546d6409a19/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-773302.log
+started roslaunch server http://158.130.50.37:36633/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-13]: started with pid [774113]
+process[print_text-14]: started with pid [774114]
+process[rosbag_record-15]: started with pid [774115]
+started bagging!
+For topic gripper_width: timestamp difference is -126188727 for nearest: 1733962644923920659 - target: 1733962645050109386 at idx 75
+For topic gripper_width: timestamp difference is -124611001 for nearest: 1733962645723868508 - target: 1733962645848479509 at idx 85
+For topic gripper_width: timestamp difference is -114809845 for nearest: 1733962650523919966 - target: 1733962650638729811 at idx 143
+For topic gripper_width: timestamp difference is -110503214 for nearest: 1733962655323921425 - target: 1733962655434424639 at idx 207
+For topic gripper_width: timestamp difference is -111412838 for nearest: 1733962656123920843 - target: 1733962656235333681 at idx 216
+For topic gripper_width: timestamp difference is -108500294 for nearest: 1733962659723919817 - target: 1733962659832420111 at idx 249
+For topic gripper_width: timestamp difference is -134428791 for nearest: 1733962668923873850 - target: 1733962669058302641 at idx 249
+[INFO] [1733962670.522295]: Storing episode...
+[rosbag_record-15] killing on exit
+[print_text-14] killing on exit
+[pub_text-13] killing on exit
+[INFO] [1733962671.349140]: Stored episode 5.
+[INFO] [1733962671.354508]: Saving video...
+[INFO] [1733962671.589602]: Video saved!
+[INFO] [1733962671.647246]: resetting environment
+[INFO] [1733962671.655068]: cleared current plan
+[INFO] [1733962671.661822]: moving to home
+[INFO] [1733962674.483360]: reached home
+[INFO] [1733962674.502695]: reset action history
+[INFO] [1733962677.300227]: environment reset
+Evaluation finished. To wrap up, rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!
+proceeding to start episode!

191334/wandb/run-20241211_191340-l07wa4hd/files/requirements.txt

@@ -0,0 +1,339 @@
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'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': 5, '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': 1e-08, 'adam_weight_decay': 1e-06, 'grad_clip_norm': 10, 'offline_steps': 1000000, 'use_amp': True}, 'observation_cfg': {'_target_': 'agent.encoder.VisualFeatureSet', 'use_depth': True, 'use_color': True, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': False, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}, 'context_input_config': {'_target_': 'agent.encoder.ContextInputConfig', 'use_color': False, 'use_depth': False, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': False, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}}, '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': False, 'use_sdf_maps': False, 'use_normals_maps': False, 'which_objects': 'both', '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, 'max_contact_prob': 0.1, 'mask_normals_within_sdf': True, 'dtc_adaptive_normalization': False, 'adaptive_normals_mask': True, 'max_depth': 2.0, 'image_shape': [13, 180, 240], 'learnable_contact_preprocess_params': True, 'learning_rate': 0.0001, 'weight_decay': 0.0, 'contact_model_name': 'local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9', 'zero_centered': False}}, 'true_action_history': 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', 'save_buffer': True, 'num_eval': 5, 'random_start': False, 'eval_starts': '/home/leonmkim/fish_leon/FISH/eval_starts/frankagym_pixels/FrankaInsertion-v1', 'num_valid_demos': None, 'load_checkpoint': True, 'true_action_history': False, 'checkpoint_epoch': 12000, 'load_residual_weight': False, 'checkpoint_root_dir': '/home/leonmkim/fish_leon/FISH', 'checkpoint_weight_dir': '/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0', 'residual_weight': '/home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt'}
+2024-12-11 19:13:40,896 INFO    MainThread:773302 [wandb_init.py:init():619] starting backend
+2024-12-11 19:13:40,896 INFO    MainThread:773302 [wandb_init.py:init():623] setting up manager
+2024-12-11 19:13:40,901 INFO    MainThread:773302 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2024-12-11 19:13:40,904 INFO    MainThread:773302 [wandb_init.py:init():631] backend started and connected
+2024-12-11 19:13:40,917 INFO    MainThread:773302 [wandb_init.py:init():720] updated telemetry
+2024-12-11 19:13:40,923 INFO    MainThread:773302 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2024-12-11 19:13:41,191 INFO    MainThread:773302 [wandb_run.py:_on_init():2435] communicating current version
+2024-12-11 19:13:41,259 INFO    MainThread:773302 [wandb_run.py:_on_init():2444] got version response upgrade_message: "wandb version 0.19.0 is available!  To upgrade, please run:\n $ pip install wandb --upgrade"
+
+2024-12-11 19:13:41,261 INFO    MainThread:773302 [wandb_init.py:init():804] starting run threads in backend
+2024-12-11 19:13:41,616 INFO    MainThread:773302 [wandb_run.py:_console_start():2413] atexit reg
+2024-12-11 19:13:41,616 INFO    MainThread:773302 [wandb_run.py:_redirect():2255] redirect: wrap_raw
+2024-12-11 19:13:41,616 INFO    MainThread:773302 [wandb_run.py:_redirect():2320] Wrapping output streams.
+2024-12-11 19:13:41,617 INFO    MainThread:773302 [wandb_run.py:_redirect():2345] Redirects installed.
+2024-12-11 19:13:41,618 INFO    MainThread:773302 [wandb_init.py:init():847] run started, returning control to user process
+2024-12-11 19:13:41,619 INFO    MainThread:773302 [wandb_run.py:_tensorboard_callback():1544] tensorboard callback: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/266406_0/191334/tb, True
+2024-12-11 19:13:45,500 INFO    MainThread:773302 [wandb_run.py:_config_callback():1382] config_cb None None {'grasped_obj_name': 'hbm', 'left_book_slot': 'twodim'}
+2024-12-11 19:18:28,045 WARNING MsgRouterThr:773302 [router.py:message_loop():77] message_loop has been closed

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
+dataset_shuffle_seed: 2
+device: cuda
+save_video: true
+save_train_video: true
+use_tb: true
+use_wandb: true
+wandb_run_id: '266406_0'
+wandb_notes: '266406_0_'
+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_ctxt_seed_183386_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: 16
+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_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    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
+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

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