Delete config.yaml

config.yaml

@@ -1,385 +0,0 @@
-_target_: diffusion_policy.workspace.train_tedi_unet_hybrid_workspace.TrainTEDIUnetHybridWorkspace
-checkpoint:
-  save_last_ckpt: false
-  save_last_snapshot: false
-  topk:
-    format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
-    k: 1
-    mode: max
-    monitor_key: test_mean_score
-dataloader:
-  batch_size: 64
-  num_workers: 16
-  persistent_workers: true
-  pin_memory: true
-  shuffle: true
-dataset_obs_steps: 2
-ema:
-  _target_: diffusion_policy.model.diffusion.ema_model.EMAModel
-  inv_gamma: 1.0
-  max_value: 0.9999
-  min_value: 0.0
-  power: 0.75
-  update_after_step: 0
-exp_name: default
-horizon: 20
-keypoint_visible_rate: 1.0
-logging:
-  group: null
-  id: null
-  mode: online
-  name: 2024.11.21-05.16.53_train_tedi_unet_hybrid_transport_image
-  project: diffusion_policy_debug
-  resume: true
-  tags:
-  - train_tedi_unet_hybrid
-  - transport_image
-  - default
-multi_run:
-  run_dir: data/outputs/2024.11.21/05.16.53_train_tedi_unet_hybrid_transport_image
-  wandb_name_base: 2024.11.21-05.16.53_train_tedi_unet_hybrid_transport_image
-n_action_steps: 8
-n_latency_steps: 0
-n_obs_steps: 2
-name: train_tedi_unet_hybrid
-obs_as_global_cond: true
-optimizer:
-  _target_: torch.optim.AdamW
-  betas:
-  - 0.95
-  - 0.999
-  eps: 1.0e-08
-  lr: 0.0001
-  weight_decay: 1.0e-06
-past_action_visible: false
-policy:
-  _target_: diffusion_policy.policy.tedi_unet_hybrid_image_policy.TEDIUnetHybridImagePolicy
-  buffer_init: zero
-  chunk_wise_weight: 0.8
-  cond_predict_scale: true
-  crop_shape:
-  - 76
-  - 76
-  diffusion_step_embed_dim: 128
-  down_dims:
-  - 512
-  - 1024
-  - 2048
-  eval_fixed_crop: true
-  horizon: 20
-  kernel_size: 5
-  n_action_steps: 8
-  n_groups: 8
-  n_obs_steps: 2
-  noise_scheduler:
-    _target_: diffusion_policy.policy.schedulers.DDPMTEDiScheduler
-    beta_end: 0.02
-    beta_schedule: squaredcos_cap_v2
-    beta_start: 0.0001
-    clip_sample: true
-    num_train_timesteps: 100
-    prediction_type: epsilon
-    variance_type: fixed_small
-  num_inference_steps: 100
-  obs_as_global_cond: true
-  obs_encoder_group_norm: true
-  shape_meta:
-    action:
-      shape:
-      - 20
-    obs:
-      robot0_eef_pos:
-        shape:
-        - 3
-      robot0_eef_quat:
-        shape:
-        - 4
-      robot0_eye_in_hand_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-      robot0_gripper_qpos:
-        shape:
-        - 2
-      robot1_eef_pos:
-        shape:
-        - 3
-      robot1_eef_quat:
-        shape:
-        - 4
-      robot1_eye_in_hand_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-      robot1_gripper_qpos:
-        shape:
-        - 2
-      shouldercamera0_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-      shouldercamera1_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-  temporally_constant_weight: 0.2
-  temporally_increasing_weight: 0.0
-  temporally_random_weights: 0.0
-shape_meta:
-  action:
-    shape:
-    - 20
-  obs:
-    robot0_eef_pos:
-      shape:
-      - 3
-    robot0_eef_quat:
-      shape:
-      - 4
-    robot0_eye_in_hand_image:
-      shape:
-      - 3
-      - 84
-      - 84
-      type: rgb
-    robot0_gripper_qpos:
-      shape:
-      - 2
-    robot1_eef_pos:
-      shape:
-      - 3
-    robot1_eef_quat:
-      shape:
-      - 4
-    robot1_eye_in_hand_image:
-      shape:
-      - 3
-      - 84
-      - 84
-      type: rgb
-    robot1_gripper_qpos:
-      shape:
-      - 2
-    shouldercamera0_image:
-      shape:
-      - 3
-      - 84
-      - 84
-      type: rgb
-    shouldercamera1_image:
-      shape:
-      - 3
-      - 84
-      - 84
-      type: rgb
-task:
-  abs_action: true
-  dataset:
-    _target_: diffusion_policy.dataset.robomimic_replay_image_dataset.RobomimicReplayImageDataset
-    abs_action: true
-    dataset_path: data/robomimic/datasets/transport/ph/image_abs.hdf5
-    horizon: 20
-    n_obs_steps: 2
-    pad_after: 7
-    pad_before: 1
-    rotation_rep: rotation_6d
-    seed: 42
-    shape_meta:
-      action:
-        shape:
-        - 20
-      obs:
-        robot0_eef_pos:
-          shape:
-          - 3
-        robot0_eef_quat:
-          shape:
-          - 4
-        robot0_eye_in_hand_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-        robot0_gripper_qpos:
-          shape:
-          - 2
-        robot1_eef_pos:
-          shape:
-          - 3
-        robot1_eef_quat:
-          shape:
-          - 4
-        robot1_eye_in_hand_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-        robot1_gripper_qpos:
-          shape:
-          - 2
-        shouldercamera0_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-        shouldercamera1_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-    use_cache: true
-    use_legacy_normalizer: false
-    val_ratio: 0.02
-  dataset_path: data/robomimic/datasets/transport/ph/image_abs.hdf5
-  dataset_type: ph
-  env_runner:
-    _target_: diffusion_policy.env_runner.robomimic_image_runner.RobomimicImageRunner
-    abs_action: true
-    crf: 22
-    dataset_path: data/robomimic/datasets/transport/ph/image_abs.hdf5
-    fps: 10
-    max_steps: 700
-    n_action_steps: 8
-    n_envs: 28
-    n_obs_steps: 2
-    n_test: 50
-    n_test_vis: 4
-    n_train: 6
-    n_train_vis: 2
-    past_action: false
-    render_obs_key: shouldercamera0_image
-    shape_meta:
-      action:
-        shape:
-        - 20
-      obs:
-        robot0_eef_pos:
-          shape:
-          - 3
-        robot0_eef_quat:
-          shape:
-          - 4
-        robot0_eye_in_hand_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-        robot0_gripper_qpos:
-          shape:
-          - 2
-        robot1_eef_pos:
-          shape:
-          - 3
-        robot1_eef_quat:
-          shape:
-          - 4
-        robot1_eye_in_hand_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-        robot1_gripper_qpos:
-          shape:
-          - 2
-        shouldercamera0_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-        shouldercamera1_image:
-          shape:
-          - 3
-          - 84
-          - 84
-          type: rgb
-    test_start_seed: 100000
-    tqdm_interval_sec: 1.0
-    train_start_idx: 0
-  name: transport_image
-  shape_meta:
-    action:
-      shape:
-      - 20
-    obs:
-      robot0_eef_pos:
-        shape:
-        - 3
-      robot0_eef_quat:
-        shape:
-        - 4
-      robot0_eye_in_hand_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-      robot0_gripper_qpos:
-        shape:
-        - 2
-      robot1_eef_pos:
-        shape:
-        - 3
-      robot1_eef_quat:
-        shape:
-        - 4
-      robot1_eye_in_hand_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-      robot1_gripper_qpos:
-        shape:
-        - 2
-      shouldercamera0_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-      shouldercamera1_image:
-        shape:
-        - 3
-        - 84
-        - 84
-        type: rgb
-  task_name: transport
-task_name: transport_image
-training:
-  checkpoint_every: 50
-  debug: false
-  device: cuda:0
-  gradient_accumulate_every: 1
-  lr_scheduler: cosine
-  lr_warmup_steps: 500
-  max_train_steps: null
-  max_val_steps: null
-  num_epochs: 501
-  resume: true
-  rollout_every: 50
-  sample_every: 5
-  seed: 42
-  tqdm_interval_sec: 1.0
-  use_ema: true
-  val_every: 1
-val_dataloader:
-  batch_size: 64
-  num_workers: 16
-  persistent_workers: true
-  pin_memory: true
-  shuffle: false