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5z33ibf5/.hydra/config.yaml

@@ -0,0 +1,352 @@
+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: 112_240x320_all_twodim_left_to_right_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}
+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: ${agent.load_checkpoint}
+wandb_run_id: '4295_0'
+true_action_history: false
+wandb_notes: null
+checkpoint_epoch: 7500
+load_residual_weight: false
+checkpoint_root_dir: /home/${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}
+final_experiment_dir: ${experiment_dir}/${oc.generate_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
+      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: ${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
+      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: 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

5z33ibf5/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${final_experiment_dir}
+  sweep:
+    dir: ${final_experiment_dir}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${final_experiment_dir}/.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-v1/4295_0/5z33ibf5
+    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

5z33ibf5/.hydra/overrides.yaml

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

5z33ibf5/episode_rosbags/episode_0_2025-01-21-21-19-25.bag

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5z33ibf5/episode_rosbags/episode_1_2025-01-21-21-20-18.bag

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5z33ibf5/episode_rosbags/episode_2_2025-01-21-21-21-10.bag

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+size 2601756742

5z33ibf5/eval_video/0_eval.mp4

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5z33ibf5/eval_video/3_eval.mp4

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+size 1582269

5z33ibf5/eval_video/4_eval.mp4

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+size 1601611

5z33ibf5/tb/events.out.tfevents.1737512323.leonmkim-ROG-Strix-G15CS-G15CS.2648747.0

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5z33ibf5/wandb/run-20250121_211842-5z33ibf5/files/code/FISH/eval_robot.py

@@ -0,0 +1,606 @@
+#%%
+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
+
+import binomial_cis as bc
+
+# 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
+
+		self.alpha_range = [.01, .025, .05, .1]
+
+		# 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), 
+				# 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:
+			# get the run id from the final_experiment_dir directory
+			run_id = os.path.basename(os.path.normpath(self.cfg.final_experiment_dir))
+			wandb.init(project='extrinsic_contact_downstream', entity='serialexperimentsleon', job_type='eval', sync_tensorboard=self.cfg.use_tb, config=wandb_config, id=run_id)
+
+		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)
+		wandb.finish()
+		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)
+
+				# log confidence intervals for success rate
+				k = self.num_episode_successes # number of successes
+				n = self.global_episode # number of trials
+
+				table_columns = []
+				table_data = []
+				for alpha in self.alpha_range:
+					lb = bc.binom_ci(k, n, alpha, 'lb')
+					ub = bc.binom_ci(k, n, alpha, 'ub')
+
+					self.logger.log_metrics({f'success_rate_lb_{alpha}': lb}, self.global_step, 'eval', episode=self.global_episode)
+					self.logger.log_metrics({f'success_rate_ub_{alpha}': ub}, 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)
+			
+			# log confidence intervals for success rate
+			k = self.num_episode_successes # number of successes
+			n = self.global_episode # number of trials
+
+			table_columns = ['success_rate']
+			table_data = [self.num_episode_successes/self.global_episode]
+			for alpha in self.alpha_range:
+				lb = bc.binom_ci(k, n, alpha, 'lb')
+				ub = bc.binom_ci(k, n, alpha, 'ub')
+
+				self.logger.log_metrics({f'success_rate_lb_{alpha}': lb}, self.global_step, 'eval', episode=self.global_episode)
+				self.logger.log_metrics({f'success_rate_ub_{alpha}': ub}, self.global_step, 'eval', episode=self.global_episode)
+
+				table_columns.extend([f'success_rate_lb_{alpha}', f'success_rate_ub_{alpha}'])
+				table_data.extend([lb, ub])
+
+			table_data = [table_data]
+
+			# seperately log as a table
+			wandb.log({
+				"eval/success_rate_ci": wandb.Table(data=table_data, columns=table_columns)
+			})
+
+			# also accumulate eval metrics across previous eval runs 
+			# TODO: change wandb init to resume from an existing run!!!
+			run_filter={
+				"jobType": "eval",
+				"config.wandb_run_id": self.cfg.wandb_run_id, 
+				"summary_metrics.episode": {"$gte": 5},
+				"config.checkpoint_epoch": self.cfg.checkpoint_epoch,
+				"state": "finished",
+				# "config.grasped_obj_name": grasped_obj_name,
+				# "config.left_book_slot": left_book_slot,
+			}
+
+			api = wandb.Api()
+			filtered_runs = api.runs("serialexperimentsleon/extrinsic_contact_downstream", filters=run_filter)
+			total_num_successes = self.num_episode_successes
+			total_num_episodes = self.global_episode
+			list_of_historical_run_ids = []
+			if len(filtered_runs) > 0:
+				for filtered_run in filtered_runs:
+					total_num_successes += filtered_run.summary_metrics['eval/num_success']
+					# total_num_episodes += filtered_run.summary_metrics['episode']
+					total_num_episodes += filtered_run.config['num_eval']
+					list_of_historical_run_ids.append(filtered_run.id)
+
+			wandb.summary['total_num_successes'] = total_num_successes
+			wandb.summary['total_num_episodes'] = total_num_episodes
+			wandb.summary['total_success_rate'] = total_num_successes/total_num_episodes
+				
+			# log the accumulated metrics as a table
+			total_table_columns = ['total_num_successes', 'total_num_episodes', 'total_success_rate']
+			total_table_data = [total_num_successes, total_num_episodes, total_num_successes/total_num_episodes]
+			self.logger.log_metrics({'total_success_rate': total_num_successes/total_num_episodes}, self.global_step, 'eval', episode=total_num_episodes)
+			
+			for alpha in self.alpha_range:
+				lb = bc.binom_ci(total_num_successes, total_num_episodes, alpha, 'lb')
+				ub = bc.binom_ci(total_num_successes, total_num_episodes, alpha, 'ub')
+				total_table_columns.extend([f'total_success_rate_lb_{alpha}', f'total_success_rate_ub_{alpha}'])
+				total_table_data.extend([lb, ub])
+				wandb.summary[f'total_success_rate_lb_{alpha}'] = lb
+				wandb.summary[f'total_success_rate_ub_{alpha}'] = ub
+
+				self.logger.log_metrics({f'total_success_rate_lb_{alpha}': lb}, self.global_step, 'eval', episode=total_num_episodes)
+				self.logger.log_metrics({f'total_success_rate_ub_{alpha}': ub}, self.global_step, 'eval', episode=total_num_episodes)
+
+			total_table_data = [total_table_data]
+			wandb.log({
+				'eval/total_success_rate_ci': wandb.Table(data=total_table_data, columns=total_table_columns)
+			})
+
+		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()

5z33ibf5/wandb/run-20250121_211842-5z33ibf5/files/config.yaml

@@ -0,0 +1,936 @@
+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: 0
+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: '4295_0'
+wandb_notes:
+  desc: null
+  value: 4295_0_restarted_1
+eval:
+  desc: null
+  value: true
+true_action_history:
+  desc: null
+  value: false
+train_pad_after:
+  desc: null
+  value: 4
+process_contact_features:
+  desc: null
+  value: true
+obs_type:
+  desc: null
+  value: pixels
+use_color:
+  desc: null
+  value: false
+use_depth:
+  desc: null
+  value: true
+use_masks:
+  desc: null
+  value: true
+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: true
+use_sdf_maps:
+  desc: null
+  value: true
+use_normals_maps:
+  desc: null
+  value: true
+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_mask_ctxtmask_seed_220979_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: 120_240x320_all_twodim_left_to_right_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-v1/120_240x320_all_twodim_left_to_right_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-v1/120_240x320_all_twodim_left_to_right_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-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/semantic_demo_grouping.yaml
+include_groups_list:
+  desc: null
+  value: all
+expert_dataset_config:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demo_config.yaml
+name_of_valid_demo:
+  desc: null
+  value: 120_240x320_all_twodim_left_to_right_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-v1/120_240x320_all_twodim_left_to_right_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: 7
+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
+restore_missing_checkpoint:
+  desc: null
+  value: null
+bc_regularize:
+  desc: null
+  value: false
+bc_weight_type:
+  desc: null
+  value: qfilter
+experiment_dir:
+  desc: null
+  value: ./exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0
+agent:
+  desc: null
+  value:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgent
+    name: diffusion_policy
+    load_checkpoint: true
+    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
+        crop_distractors_tlhw:
+        - 32
+        - 68
+        - 174
+        - 174
+        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: false
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: true
+          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: true
+        use_sdf_maps: true
+        use_normals_maps: true
+        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_mask_ctxtmask_seed_220979_epoch_9
+        zero_centered: false
+        crop_distractors_tlhw:
+        - 32
+        - 68
+        - 174
+        - 174
+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-v1/120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+      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
+          crop_distractors_tlhw:
+          - 32
+          - 68
+          - 174
+          - 174
+          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: false
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: true
+            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: true
+          use_sdf_maps: true
+          use_normals_maps: true
+          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_mask_ctxtmask_seed_220979_epoch_9
+          zero_centered: false
+          crop_distractors_tlhw:
+          - 32
+          - 68
+          - 174
+          - 174
+      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:
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+  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:
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+  - 0.7
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+  value:
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+  - 0.4
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+  value:
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+  - 0.0
+  - 0.55
+  - 180.0
+  - 0.0
+  - 0.0
+enable_gripper:
+  desc: null
+  value: true
+start_with_gripper_open:
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+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
+test:
+  desc: null
+  value:
+    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: ~/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+    expert_dataset: ~/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+    semantic_demo_grouping_name: semantic_demo_grouping.yaml
+    semantic_demo_grouping: ~/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/semantic_demo_grouping.yaml
+    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: /mnt/bighdd/fish_contact_backup/exp_local/frankagym_pixels/FrankaInsertion-v1
+    resume_wandb_run: false
+feature_type:
+  desc: null
+  value: 180x240_crpdstlhw24x51x130x130_1_D_2.0_msk_channels_EE_obj_mask_cntct_0.1_DTC_clmpd_lrnbl_nrmls_DTCmask_adpt_lrnbl_both_lr_0.0001_wd_0.0_local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9_acthist_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
+checkpoint_epoch:
+  desc: null
+  value: 7500
+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-v1/4295_0
+residual_weight:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt
+final_experiment_dir:
+  desc: null
+  value: ./exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5
+_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: 1737512322
+    t:
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+      5: 0.17.5
+      8:
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+      13: linux-x86_64
+grasped_obj_name:
+  desc: null
+  value: greece
+left_book_slot:
+  desc: null
+  value: twodim

5z33ibf5/wandb/run-20250121_211842-5z33ibf5/files/diff.patch

@@ -0,0 +1,13 @@
+diff --git a/FISH/cfgs/config_eval.yaml b/FISH/cfgs/config_eval.yaml
+index bb5fa99..c2e87d3 100644
+--- a/FISH/cfgs/config_eval.yaml
++++ b/FISH/cfgs/config_eval.yaml
+@@ -82,7 +82,7 @@ contact_estimation_model_ckpt_path: '~/fish_leon/contact_estimation/artifacts/17
+ 
+ # Number of evaluation trajectories
+ # num_eval: 10
+-num_eval: 20
++num_eval: 5
+ 
+ debug_timestamps: False
+ open_loop: False

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5z33ibf5/wandb/run-20250121_211842-5z33ibf5/files/output.log

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+
+loaded agent with feature_type: 180x240_crpdstlhw24x51x130x130_1_D_2.0_msk_channels_EE_obj_mask_cntct_0.1_DTC_clmpd_lrnbl_nrmls_DTCmask_adpt_lrnbl_both_lr_0.0001_wd_0.0_local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9_acthist_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+[INFO] [1737512344.066829]: resetting environment
+[INFO] [1737512344.071555]: cleared current plan
+[INFO] [1737512344.072359]: moving to home
+[INFO] [1737512345.074732]: reached home
+[INFO] [1737512345.076250]: reset action history
+[INFO] [1737512347.791137]: environment reset
+Starting episode 0
+[INFO] [1737512347.795354]: resetting environment
+[INFO] [1737512347.799639]: cleared current plan
+[INFO] [1737512347.800419]: moving to home
+[INFO] [1737512348.802850]: reached home
+[INFO] [1737512348.804140]: reset action history
+[INFO] [1737512351.514226]: 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] [1737512361.602565]: resetting environment
+[INFO] [1737512361.608536]: cleared current plan
+[INFO] [1737512361.609563]: moving to home
+[INFO] [1737512362.611631]: reached home
+[INFO] [1737512362.612975]: reset action history
+[INFO] [1737512365.321576]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5/episode_rosbags/episode_0_2025-01-21-21-19-25.bag
+... logging to /home/leonmkim/.ros/log/1b77c894-d3af-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2648747.log
+started roslaunch server http://158.130.50.37:45519/
+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 [2649062]
+process[print_text-2]: started with pid [2649086]
+process[rosbag_record-3]: started with pid [2649087]
+started bagging!
+For topic gripper_width: timestamp difference is 101189745 for nearest: 1737512372579162491 - target: 1737512372477972746 at idx 96
+[INFO] [1737512400.271397]: Storing episode...
+[rosbag_record-3] killing on exit
+[print_text-2] killing on exit[pub_text-1] killing on exit
+[INFO] [1737512401.070160]: Stored episode 1.
+[INFO] [1737512401.070449]: Saving video...
+[INFO] [1737512401.271325]: Video saved!
+Starting episode 1
+[INFO] [1737512401.284343]: resetting environment
+[INFO] [1737512401.297850]: cleared current plan
+[INFO] [1737512401.298455]: moving to home
+[INFO] [1737512404.903185]: reached home
+[INFO] [1737512404.904354]: reset action history
+[INFO] [1737512407.615764]: 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!
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1737512414.630790]: resetting environment
+[INFO] [1737512414.637108]: cleared current plan
+[INFO] [1737512414.637758]: moving to home
+[INFO] [1737512415.639205]: reached home
+[INFO] [1737512415.639622]: reset action history
+[INFO] [1737512418.347720]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5/episode_rosbags/episode_1_2025-01-21-21-20-18.bag
+... logging to /home/leonmkim/.ros/log/1b77c894-d3af-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2648747.log
+started roslaunch server http://158.130.50.37:40889/
+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 [2649210]
+process[print_text-5]: started with pid [2649211]
+process[rosbag_record-6]: started with pid [2649235]
+started bagging!
+For topic gripper_width: timestamp difference is 112526717 for nearest: 1737512419412497105 - target: 1737512419299970388 at idx 15
+For topic gripper_width: timestamp difference is 100327451 for nearest: 1737512445479163368 - target: 1737512445378835917 at idx 249
+For topic gripper_width: timestamp difference is 101364895 for nearest: 1737512446779119536 - target: 1737512446677754641 at idx 249
+For topic gripper_width: timestamp difference is 105899694 for nearest: 1737512452279161575 - target: 1737512452173261881 at idx 249
+[INFO] [1737512453.038391]: Storing episode...
+[rosbag_record-6] killing on exit
+[print_text-5] killing on exit
+[pub_text-4] killing on exit
+[INFO] [1737512453.838337]: Stored episode 2.
+[INFO] [1737512453.838769]: Saving video...
+[INFO] [1737512454.392757]: Video saved!
+Starting episode 2
+[INFO] [1737512454.431414]: resetting environment
+[INFO] [1737512454.453223]: cleared current plan
+[INFO] [1737512454.454833]: moving to home
+[WARN] [1737512454.380692]: Plan exhausted
+[WARN] [1737512454.420855]: Plan exhausted
+[INFO] [1737512458.061684]: reached home
+[INFO] [1737512458.065943]: reset action history
+[INFO] [1737512460.789738]: 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!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1737512467.102199]: resetting environment
+[INFO] [1737512467.110906]: cleared current plan
+[INFO] [1737512467.111114]: moving to home
+[INFO] [1737512468.112596]: reached home
+[INFO] [1737512468.113806]: reset action history
+[INFO] [1737512470.823428]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5/episode_rosbags/episode_2_2025-01-21-21-21-10.bag
+... logging to /home/leonmkim/.ros/log/1b77c894-d3af-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2648747.log
+started roslaunch server http://158.130.50.37:43591/
+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 [2649365]
+process[print_text-8]: started with pid [2649366]
+process[rosbag_record-9]: started with pid [2649390]
+started bagging!
+For topic gripper_width: timestamp difference is -105112122 for nearest: 1737512478812493040 - target: 1737512478917605162 at idx 104
+For topic gripper_width: timestamp difference is 102645308 for nearest: 1737512483679187447 - target: 1737512483576542139 at idx 166
+For topic gripper_width: timestamp difference is 102466929 for nearest: 1737512489412494051 - target: 1737512489310027122 at idx 237
+[INFO] [1737512505.752525]: Storing episode...
+[rosbag_record-9] killing on exit[print_text-8] killing on exit
+[pub_text-7] killing on exit
+[INFO] [1737512506.581306]: Stored episode 3.
+[INFO] [1737512506.587126]: Saving video...
+[WARN] [1737512507.100658]: Plan exhausted
+[WARN] [1737512507.140645]: Plan exhausted
+[INFO] [1737512507.070721]: Video saved!
+Starting episode 3
+[INFO] [1737512507.120391]: resetting environment
+[INFO] [1737512507.145662]: cleared current plan
+[INFO] [1737512507.145931]: moving to home
+[INFO] [1737512510.752356]: reached home
+[INFO] [1737512510.758472]: reset action history
+[INFO] [1737512513.549517]: 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!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1737512533.129828]: resetting environment
+[INFO] [1737512533.144915]: cleared current plan
+[INFO] [1737512533.147726]: moving to home
+[INFO] [1737512534.149325]: reached home
+[INFO] [1737512534.159630]: reset action history
+[INFO] [1737512536.897161]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5/episode_rosbags/episode_3_2025-01-21-21-22-16.bag
+... logging to /home/leonmkim/.ros/log/1b77c894-d3af-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2648747.log
+started roslaunch server http://158.130.50.37:40733/
+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 [2649541]
+process[print_text-11]: started with pid [2649542]
+process[rosbag_record-12]: started with pid [2649543]
+started bagging!
+For topic gripper_width: timestamp difference is 113910194 for nearest: 1737512544879159208 - target: 1737512544765249014 at idx 100
+For topic gripper_width: timestamp difference is 115392148 for nearest: 1737512546679185092 - target: 1737512546563792944 at idx 128
+[INFO] [1737512572.937681]: Storing episode...
+[print_text-11] killing on exit
+[rosbag_record-12] killing on exit
+[pub_text-10] killing on exit
+[INFO] [1737512573.861141]: Stored episode 4.
+[INFO] [1737512573.868678]: Saving video...
+[INFO] [1737512574.377781]: Video saved!
+Starting episode 4
+[INFO] [1737512574.469411]: resetting environment
+[INFO] [1737512574.506689]: cleared current plan
+[INFO] [1737512574.506871]: moving to home
+[WARN] [1737512574.300869]: Plan exhausted
+[WARN] [1737512574.341642]: Plan exhausted
+[WARN] [1737512574.387984]: Plan exhausted
+[WARN] [1737512574.426885]: Plan exhausted
+[WARN] [1737512574.461248]: Plan exhausted
+[WARN] [1737512574.500782]: Plan exhausted
+[INFO] [1737512578.114544]: reached home
+[INFO] [1737512578.116574]: reset action history
+[INFO] [1737512580.900574]: 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!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+[INFO] [1737512588.253288]: resetting environment
+[INFO] [1737512588.295903]: cleared current plan
+[INFO] [1737512588.298103]: moving to home
+[INFO] [1737512589.304532]: reached home
+[INFO] [1737512589.313428]: reset action history
+[INFO] [1737512592.152229]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5/episode_rosbags/episode_4_2025-01-21-21-23-12.bag
+... logging to /home/leonmkim/.ros/log/1b77c894-d3af-11ef-96d2-5defea869005/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-2648747.log
+started roslaunch server http://158.130.50.37:41637/
+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 [2649694]
+process[print_text-14]: started with pid [2649695]
+process[rosbag_record-15]: started with pid [2649696]
+started bagging!
+For topic gripper_width: timestamp difference is 110738336 for nearest: 1737512623479111730 - target: 1737512623368373394 at idx 249
+[INFO] [1737512628.895769]: Storing episode...
+[rosbag_record-15] killing on exit
+[print_text-14] killing on exit
+[pub_text-13] killing on exit
+[INFO] [1737512629.627210]: Stored episode 5.
+[INFO] [1737512629.639351]: Saving video...
+[INFO] [1737512630.211458]: Video saved!
+[INFO] [1737512630.257196]: resetting environment
+[INFO] [1737512630.290530]: cleared current plan
+[INFO] [1737512630.291321]: moving to home
+[WARN] [1737512630.264509]: Plan exhausted
+[INFO] [1737512633.895220]: reached home
+[INFO] [1737512633.908928]: reset action history
+[INFO] [1737512636.694786]: environment reset
+Evaluation finished. To wrap up, rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+Comuting lower confidence bound
+Comuting upper confidence bound
+proceeding to start episode!

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5z33ibf5/wandb/run-20250121_211842-5z33ibf5/logs/debug.log

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'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_mask_ctxtmask_seed_220979_epoch_9', 'zero_centered': False, 'crop_distractors_tlhw': [32, 68, 174, 174]}}, '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', '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': '~/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act', 'expert_dataset': '~/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr', 'semantic_demo_grouping_name': 'semantic_demo_grouping.yaml', 'semantic_demo_grouping': '~/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/semantic_demo_grouping.yaml', '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': '/mnt/bighdd/fish_contact_backup/exp_local/frankagym_pixels/FrankaInsertion-v1', 'resume_wandb_run': False}, 'feature_type': '180x240_crpdstlhw24x51x130x130_1_D_2.0_msk_channels_EE_obj_mask_cntct_0.1_DTC_clmpd_lrnbl_nrmls_DTCmask_adpt_lrnbl_both_lr_0.0001_wd_0.0_local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9_acthist_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, 'checkpoint_epoch': 7500, '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-v1/4295_0', 'residual_weight': '/home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt', 'final_experiment_dir': './exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5'}
+2025-01-21 21:18:42,333 INFO    MainThread:2648747 [wandb_init.py:init():619] starting backend
+2025-01-21 21:18:42,333 INFO    MainThread:2648747 [wandb_init.py:init():623] setting up manager
+2025-01-21 21:18:42,338 INFO    MainThread:2648747 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-01-21 21:18:42,339 INFO    MainThread:2648747 [wandb_init.py:init():631] backend started and connected
+2025-01-21 21:18:42,351 INFO    MainThread:2648747 [wandb_init.py:init():720] updated telemetry
+2025-01-21 21:18:42,357 INFO    MainThread:2648747 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-01-21 21:18:42,678 INFO    MainThread:2648747 [wandb_run.py:_on_init():2435] communicating current version
+2025-01-21 21:18:42,752 INFO    MainThread:2648747 [wandb_run.py:_on_init():2444] got version response upgrade_message: "wandb version 0.19.4 is available!  To upgrade, please run:\n $ pip install wandb --upgrade"
+
+2025-01-21 21:18:42,752 INFO    MainThread:2648747 [wandb_init.py:init():804] starting run threads in backend
+2025-01-21 21:18:43,114 INFO    MainThread:2648747 [wandb_run.py:_console_start():2413] atexit reg
+2025-01-21 21:18:43,115 INFO    MainThread:2648747 [wandb_run.py:_redirect():2255] redirect: wrap_raw
+2025-01-21 21:18:43,115 INFO    MainThread:2648747 [wandb_run.py:_redirect():2320] Wrapping output streams.
+2025-01-21 21:18:43,115 INFO    MainThread:2648747 [wandb_run.py:_redirect():2345] Redirects installed.
+2025-01-21 21:18:43,118 INFO    MainThread:2648747 [wandb_init.py:init():847] run started, returning control to user process
+2025-01-21 21:18:43,118 INFO    MainThread:2648747 [wandb_run.py:_tensorboard_callback():1544] tensorboard callback: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/4295_0/5z33ibf5/tb, True
+2025-01-21 21:19:04,065 INFO    MainThread:2648747 [wandb_run.py:_config_callback():1382] config_cb None None {'grasped_obj_name': 'greece', 'left_book_slot': 'twodim'}
+2025-01-21 21:24:34,208 WARNING MsgRouterThr:2648747 [router.py:message_loop():77] message_loop has been closed

6yr9kinc/.hydra/config.yaml

@@ -0,0 +1,352 @@
+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: 112_240x320_all_twodim_left_to_right_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}
+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: ${agent.load_checkpoint}
+wandb_run_id: '4295_0'
+true_action_history: false
+wandb_notes: null
+checkpoint_epoch: 7500
+load_residual_weight: false
+checkpoint_root_dir: /home/${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}
+final_experiment_dir: ${experiment_dir}/${oc.generate_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
+      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: ${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
+      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: 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

6yr9kinc/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${final_experiment_dir}
+  sweep:
+    dir: ${final_experiment_dir}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${final_experiment_dir}/.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-v1/4295_0/6yr9kinc
+    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

6yr9kinc/.hydra/overrides.yaml

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

6yr9kinc/eval_policy.log

@@ -0,0 +1,15 @@
+[2025-01-21 21:18:33,733][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_policy.py:429: 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')
+
+[2025-01-21 21:18:33,737][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_policy.py:366: 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(
+
+[2025-01-21 21:18:36,249][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_policy.py:415: 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)
+

8wyk5kwf/.hydra/config.yaml

@@ -0,0 +1,352 @@
+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: 112_240x320_all_twodim_left_to_right_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}
+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: ${agent.load_checkpoint}
+wandb_run_id: '4295_0'
+true_action_history: false
+wandb_notes: null
+checkpoint_epoch: 7500
+load_residual_weight: false
+checkpoint_root_dir: /home/${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}
+final_experiment_dir: ${experiment_dir}/${oc.generate_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
+      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: ${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
+      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: 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

8wyk5kwf/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${final_experiment_dir}
+  sweep:
+    dir: ${final_experiment_dir}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${final_experiment_dir}/.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-v1/4295_0/8wyk5kwf
+    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

8wyk5kwf/.hydra/overrides.yaml

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

8wyk5kwf/episode_rosbags/aligned_depth_to_color_K.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4a962c703d20da282f5e009d432dff51df4ebd22f3386699b6754ea9cfc06a55
+size 200

8wyk5kwf/episode_rosbags/cam_tf_world.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:29313ba240dd65ebbc79056d5582a97c9586cf2a1d4a1e0db13b87b49152cc9e
+size 256

8wyk5kwf/episode_rosbags/color_K.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4a962c703d20da282f5e009d432dff51df4ebd22f3386699b6754ea9cfc06a55
+size 200

8wyk5kwf/episode_rosbags/depth_K.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cc601d2fecd31c5513c76a88b5d4d8059adc1f92dad682e2d755d89a66d8fdf7
+size 200

8wyk5kwf/episode_rosbags/episode_0_2025-01-21-21-41-29.bag

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+oid sha256:12fc6c7955fda91495ee3aada8f40ef61b3b93b00e6d410a236709f42932cf74
+size 1257913700

8wyk5kwf/episode_rosbags/episode_1_2025-01-21-21-42-00.bag

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+version https://git-lfs.github.com/spec/v1
+oid sha256:adf1016ab53f3d144b5c322473b9cd5ab29d6506bf8dab28879a44192b57aa6c
+size 1343202659

8wyk5kwf/episode_rosbags/episode_2_2025-01-21-21-42-34.bag

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+size 1131697979

8wyk5kwf/eval_robot.log

@@ -0,0 +1,12 @@
+[2025-01-21 21:40:59,961][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:597: 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')
+
+[2025-01-21 21:40:59,964][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:533: 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(
+

8wyk5kwf/eval_video/0_eval.mp4

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+size 836964