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replay_buffer_size: 150000
replay_buffer_num_workers: 2
nstep: 3
batch_size: 128
seed: 0
dataset_shuffle_seed: ${seed}
valid_dataset_shuffle_seed: 0
train_dataset_shuffle_seed: 0
device: cuda
save_video: true
save_train_video: true
use_tb: true
use_wandb: true
wandb_run_id: '27494_0'
wandb_notes: 27494_0_restarted_2
eval: false
simulation: true
true_action_history: false
train_pad_after: 4
process_contact_features: ${eval}
obs_type: pixels
use_color: true
use_depth: true
use_masks: false
mask_list:
- EE_obj_mask
mask_representation: channels
segmentation_model_name: gt_segmentation
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: 1.0
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: gt_contact
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: 413_sim_demos_left_of_4th_book_20hz_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: action
semantic_demo_grouping_name: semantic_demo_grouping.yaml
semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}
include_groups_list: all
expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
name_of_valid_demo: 413_sim_demos_left_of_4th_book_20hz_act
train_num_groups: 380
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: 30
load_bc: ${agent.load_checkpoint}
checkpoint_epoch_list:
- 99
- 199
- 299
- 399
- 499
- 599
- 699
- 799
- 899
- 999
- 1249
- 1499
- 1749
- 1999
- 2999
- 3999
- 4999
- 5999
- 6999
- 7999
- 8999
- 9999
snapshot_root_dir: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
save_snapshot: true
save_last_snapshot: true
save_snapshot_when_done: true
top_k_checkpoints: 5
save_snapshot_link_to_weights_dir: deprecated
restore_missing_checkpoint: null
bc_regularize: false
bc_weight_type: qfilter
experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
agent:
_target_: agent.diffusion_policy.DiffusionPolicyAgent
name: diffusion_policy
load_checkpoint: ${eval}
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
actions_prenormalized: ${simulation}
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: 28
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
crop_distractors_tlhw: null
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: 4
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}
segmentation_model_name: ${segmentation_model_name}
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}
segmentation_model_name: ${segmentation_model_name}
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
crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
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: 1000
validate_every_epochs: 50
validate_diffusion_on_action_loss_every_epochs: 50
train_eval_diffusion_on_action_loss_every_epochs: 50
check_topk_every_epochs: 50
save_snapshot_every_epochs: 100
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:
_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: 28
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
crop_distractors_tlhw: null
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: 4
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}
segmentation_model_name: ${segmentation_model_name}
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}
segmentation_model_name: ${segmentation_model_name}
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
crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
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: 1000
validate_every_epochs_bc: 5
validate_every_epochs_diffusion: 50
validate_diffusion_on_action_loss_every_epochs: 50
train_eval_diffusion_on_action_loss_every_epochs: 50
check_topk_every_epochs: 5
check_topk_every_epochs_diffusion: 50
save_snapshot_every_epochs_diffusion: 100
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
test:
username: leonmkim
hostname: grasp-login1
name_of_expert_demo: 112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
root_dir: ~/fish_leon
expert_dataset_dirpath: ${test.root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${test.name_of_expert_demo}
expert_dataset: ${test.expert_dataset_dirpath}/demos.zarr
semantic_demo_grouping_name: semantic_demo_grouping.yaml
semantic_demo_grouping: ${test.expert_dataset_dirpath}/${test.semantic_demo_grouping_name}
include_groups_list: all
batch_size: 128
store_dataset_in_memory: false
use_tb: true
local_snapshot_root_dir: /mnt/bighdd/fish_contact_backup
local_snapshot_dir: ${test.local_snapshot_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}
resume_wandb_run: false
feature_type: 180x240_1_RGB_D_2.0_acthist_hst4_out32_dwnkrnl3_dwnstrd2_dwnpd1
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