Upload folder using huggingface_hub

.gitattributes

@@ -55,3 +55,6 @@ Can/train_2/logs.json.txt filter=lfs diff=lfs merge=lfs -text
 Square/train_0/logs.json.txt filter=lfs diff=lfs merge=lfs -text
 Square/train_1/logs.json.txt filter=lfs diff=lfs merge=lfs -text
 Square/train_2/logs.json.txt filter=lfs diff=lfs merge=lfs -text
+PushT/train_0/logs.json.txt filter=lfs diff=lfs merge=lfs -text
+PushT/train_1/logs.json.txt filter=lfs diff=lfs merge=lfs -text
+PushT/train_2/logs.json.txt filter=lfs diff=lfs merge=lfs -text

PushT/config.yaml

@@ -0,0 +1,187 @@
+_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: 2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image
+  project: diffusion_policy_debug
+  resume: true
+  tags:
+  - train_tedi_unet_hybrid
+  - pusht_image
+  - default
+multi_run:
+  run_dir: data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image
+  wandb_name_base: 2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_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:
+  - 84
+  - 84
+  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:
+      - 2
+    obs:
+      agent_pos:
+        shape:
+        - 2
+        type: low_dim
+      image:
+        shape:
+        - 3
+        - 96
+        - 96
+        type: rgb
+  temporally_constant_weight: 0.2
+  temporally_increasing_weight: 0.0
+  temporally_random_weights: 0.0
+shape_meta:
+  action:
+    shape:
+    - 2
+  obs:
+    agent_pos:
+      shape:
+      - 2
+      type: low_dim
+    image:
+      shape:
+      - 3
+      - 96
+      - 96
+      type: rgb
+task:
+  dataset:
+    _target_: diffusion_policy.dataset.pusht_image_dataset.PushTImageDataset
+    horizon: 20
+    max_train_episodes: 90
+    pad_after: 7
+    pad_before: 1
+    seed: 42
+    val_ratio: 0.02
+    zarr_path: data/pusht/pusht_cchi_v7_replay.zarr
+  env_runner:
+    _target_: diffusion_policy.env_runner.pusht_image_runner.PushTImageRunner
+    fps: 10
+    legacy_test: true
+    max_steps: 300
+    n_action_steps: 8
+    n_envs: null
+    n_obs_steps: 2
+    n_test: 50
+    n_test_vis: 4
+    n_train: 6
+    n_train_vis: 2
+    past_action: false
+    test_start_seed: 100000
+    train_start_seed: 0
+  image_shape:
+  - 3
+  - 96
+  - 96
+  name: pusht_image
+  shape_meta:
+    action:
+      shape:
+      - 2
+    obs:
+      agent_pos:
+        shape:
+        - 2
+        type: low_dim
+      image:
+        shape:
+        - 3
+        - 96
+        - 96
+        type: rgb
+task_name: pusht_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: 1001
+  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

PushT/metrics/logs.json.txt

@@ -0,0 +1,21 @@
+{"global_step": 161, "epoch": 0, "max/test_mean_score": 0.11095014517167368, "k_around_max/test_mean_score": 0.11095014517167368, "max_k_window/test_mean_score": 0.11095014517167368, "min_train_loss/test_mean_score": 0.11095014517167368, "min_val_loss/test_mean_score": 0.11095014517167368, "k_min_train_loss/test_mean_score": 0.11095014517167368, "k_min_val_loss/test_mean_score": 0.11095014517167368, "last/test_mean_score": 0.11095014517167368, "metric_global_step/test_mean_score": 0}
+{"global_step": 8261, "epoch": 50, "max/test_mean_score": 0.6813516393780698, "k_around_max/test_mean_score": 0.3961508922748716, "max_k_window/test_mean_score": 0.3961508922748717, "min_train_loss/test_mean_score": 0.6813516393780698, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.3961508922748716, "k_min_val_loss/test_mean_score": 0.3961508922748716, "last/test_mean_score": 0.6813516393780698, "metric_global_step/test_mean_score": 1}
+{"global_step": 16361, "epoch": 100, "max/test_mean_score": 0.7546037197002974, "k_around_max/test_mean_score": 0.515635168083347, "max_k_window/test_mean_score": 0.4898170818566252, "min_train_loss/test_mean_score": 0.7546037197002974, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.515635168083347, "k_min_val_loss/test_mean_score": 0.515635168083347, "last/test_mean_score": 0.7546037197002974, "metric_global_step/test_mean_score": 2}
+{"global_step": 24461, "epoch": 150, "max/test_mean_score": 0.7875359394895224, "k_around_max/test_mean_score": 0.5836103609348907, "max_k_window/test_mean_score": 0.5706485492041, "min_train_loss/test_mean_score": 0.7875359394895224, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.5836103609348907, "k_min_val_loss/test_mean_score": 0.5836103609348907, "last/test_mean_score": 0.7875359394895224, "metric_global_step/test_mean_score": 3}
+{"global_step": 32561, "epoch": 200, "max/test_mean_score": 0.8198301272844383, "k_around_max/test_mean_score": 0.6308543142048003, "max_k_window/test_mean_score": 0.654454222533343, "min_train_loss/test_mean_score": 0.8198301272844383, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.6308543142048003, "k_min_val_loss/test_mean_score": 0.6308543142048003, "last/test_mean_score": 0.8198301272844383, "metric_global_step/test_mean_score": 4}
+{"global_step": 40661, "epoch": 250, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6583206188566484, "max_k_window/test_mean_score": 0.7132532281603446, "min_train_loss/test_mean_score": 0.7956521421158887, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.6583206188566485, "k_min_val_loss/test_mean_score": 0.6583206188566484, "last/test_mean_score": 0.7956521421158887, "metric_global_step/test_mean_score": 5}
+{"global_step": 48761, "epoch": 300, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6739588306811362, "max_k_window/test_mean_score": 0.7677914076108531, "min_train_loss/test_mean_score": 0.7677881016280628, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.6739588306811363, "k_min_val_loss/test_mean_score": 0.6739588306811362, "last/test_mean_score": 0.7677881016280628, "metric_global_step/test_mean_score": 6}
+{"global_step": 56861, "epoch": 350, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6875437749278381, "max_k_window/test_mean_score": 0.7838601953491972, "min_train_loss/test_mean_score": 0.7826383846547524, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.6875437749278381, "k_min_val_loss/test_mean_score": 0.6875437749278381, "last/test_mean_score": 0.7826383846547524, "metric_global_step/test_mean_score": 7}
+{"global_step": 64961, "epoch": 400, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6925594360167757, "max_k_window/test_mean_score": 0.7645624067620727, "min_train_loss/test_mean_score": 0.7326847247282761, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.6925594360167757, "k_min_val_loss/test_mean_score": 0.6925594360167757, "last/test_mean_score": 0.7326847247282761, "metric_global_step/test_mean_score": 8}
+{"global_step": 73061, "epoch": 450, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7680313546986332, "min_train_loss/test_mean_score": 0.7452354072828151, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.6978270331433797, "k_min_val_loss/test_mean_score": 0.6978270331433797, "last/test_mean_score": 0.7452354072828151, "metric_global_step/test_mean_score": 9}
+{"global_step": 81161, "epoch": 500, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7747590860084327, "min_train_loss/test_mean_score": 0.7672895346506974, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.763460972091282, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7672895346506974, "metric_global_step/test_mean_score": 10}
+{"global_step": 89261, "epoch": 550, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7787399172522682, "min_train_loss/test_mean_score": 0.7903429942799041, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7743601075814656, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7903429942799041, "metric_global_step/test_mean_score": 11}
+{"global_step": 97361, "epoch": 600, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7810939257326414, "min_train_loss/test_mean_score": 0.7761922899661476, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7765189646080506, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7761922899661476, "metric_global_step/test_mean_score": 12}
+{"global_step": 105461, "epoch": 650, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7782203843031464, "min_train_loss/test_mean_score": 0.77682343041112, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7754477137002104, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.77682343041112, "metric_global_step/test_mean_score": 13}
+{"global_step": 113561, "epoch": 700, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7868199158428193, "min_train_loss/test_mean_score": 0.7826337216934359, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7717280731411099, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7826337216934359, "metric_global_step/test_mean_score": 14}
+{"global_step": 121661, "epoch": 750, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7854966889081182, "min_train_loss/test_mean_score": 0.76118670720044, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7682815296495652, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.76118670720044, "metric_global_step/test_mean_score": 15}
+{"global_step": 129761, "epoch": 800, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7853804425466727, "min_train_loss/test_mean_score": 0.7476648412500594, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7662692036117648, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7476648412500594, "metric_global_step/test_mean_score": 16}
+{"global_step": 137861, "epoch": 850, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7831571962307183, "min_train_loss/test_mean_score": 0.7444742600517636, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7624527911514659, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7444742600517636, "metric_global_step/test_mean_score": 17}
+{"global_step": 145961, "epoch": 900, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7810423030281907, "min_train_loss/test_mean_score": 0.7331579312855716, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7625001118071956, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7331579312855716, "metric_global_step/test_mean_score": 18}
+{"global_step": 154061, "epoch": 950, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7812358363055044, "min_train_loss/test_mean_score": 0.7326173624007373, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7612383073189877, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7326173624007373, "metric_global_step/test_mean_score": 19}
+{"global_step": 162161, "epoch": 1000, "max/test_mean_score": 0.8239490037982841, "k_around_max/test_mean_score": 0.6940580554618402, "max_k_window/test_mean_score": 0.7812358363055044, "min_train_loss/test_mean_score": 0.7364679127769683, "min_val_loss/test_mean_score": 0.6813516393780698, "k_min_train_loss/test_mean_score": 0.7578099191553406, "k_min_val_loss/test_mean_score": 0.763460972091282, "last/test_mean_score": 0.7330056530142257, "metric_global_step/test_mean_score": 20}

PushT/metrics/metrics.json

@@ -0,0 +1,13 @@
+{
+  "epoch": 1000,
+  "global_step": 162161,
+  "k_around_max/test_mean_score": 0.6940580554618402,
+  "k_min_train_loss/test_mean_score": 0.7578099191553406,
+  "k_min_val_loss/test_mean_score": 0.763460972091282,
+  "last/test_mean_score": 0.7330056530142257,
+  "max/test_mean_score": 0.8239490037982841,
+  "max_k_window/test_mean_score": 0.7812358363055044,
+  "metric_global_step/test_mean_score": 20,
+  "min_train_loss/test_mean_score": 0.7364679127769683,
+  "min_val_loss/test_mean_score": 0.6813516393780698
+}

PushT/metrics/metrics.log

@@ -0,0 +1,29 @@
+2024-11-20 18:09:12,917 [INFO] Monitor waiting for log files!
+2024-11-20 18:09:54,109 [INFO] All log files ready!
+2024-11-20 18:10:57,862 [INFO] Metrics logged at step 161
+2024-11-20 18:35:17,949 [INFO] Metrics logged at step 8261
+2024-11-20 18:59:08,457 [INFO] Metrics logged at step 16361
+2024-11-20 19:23:10,186 [INFO] Metrics logged at step 24461
+2024-11-20 19:47:12,278 [INFO] Metrics logged at step 32561
+2024-11-20 20:11:16,188 [INFO] Metrics logged at step 40661
+2024-11-20 20:35:30,994 [INFO] Metrics logged at step 48761
+2024-11-20 20:59:45,941 [INFO] Metrics logged at step 56861
+2024-11-20 21:24:01,859 [INFO] Metrics logged at step 64961
+2024-11-20 21:48:08,962 [INFO] Metrics logged at step 73061
+2024-11-20 22:12:18,127 [INFO] Metrics logged at step 81161
+2024-11-20 22:36:39,511 [INFO] Metrics logged at step 89261
+2024-11-20 23:01:01,481 [INFO] Metrics logged at step 97361
+2024-11-20 23:25:25,297 [INFO] Metrics logged at step 105461
+2024-11-20 23:49:59,662 [INFO] Metrics logged at step 113561
+2024-11-21 00:14:44,871 [INFO] Metrics logged at step 121661
+2024-11-21 00:39:21,966 [INFO] Metrics logged at step 129761
+2024-11-21 01:04:09,330 [INFO] Metrics logged at step 137861
+2024-11-21 01:28:47,046 [INFO] Metrics logged at step 145961
+2024-11-21 01:53:25,579 [INFO] Metrics logged at step 154061
+2024-11-21 02:17:44,841 [INFO] Metrics logged at step 162161
+2024-11-21 02:17:58,442 [WARNING] Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+2024-11-21 02:17:58,459 [WARNING] Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+2024-11-21 02:17:58,476 [WARNING] Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+2024-11-21 02:17:58,509 [WARNING] Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+2024-11-21 02:17:58,526 [WARNING] Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+2024-11-21 02:17:58,543 [WARNING] Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/

PushT/train_0/.hydra/config.yaml

@@ -0,0 +1,159 @@
+name: train_tedi_unet_hybrid
+_target_: diffusion_policy.workspace.train_tedi_unet_hybrid_workspace.TrainTEDIUnetHybridWorkspace
+task_name: ${task.name}
+shape_meta: ${task.shape_meta}
+exp_name: default
+horizon: 20
+n_obs_steps: 2
+n_action_steps: 8
+n_latency_steps: 0
+dataset_obs_steps: ${n_obs_steps}
+past_action_visible: false
+keypoint_visible_rate: 1.0
+obs_as_global_cond: true
+policy:
+  _target_: diffusion_policy.policy.tedi_unet_hybrid_image_policy.TEDIUnetHybridImagePolicy
+  shape_meta: ${shape_meta}
+  noise_scheduler:
+    _target_: diffusion_policy.policy.schedulers.DDPMTEDiScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${horizon}
+  n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'}
+  n_obs_steps: ${n_obs_steps}
+  num_inference_steps: 100
+  obs_as_global_cond: ${obs_as_global_cond}
+  crop_shape:
+  - 84
+  - 84
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 512
+  - 1024
+  - 2048
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+  obs_encoder_group_norm: true
+  eval_fixed_crop: true
+  temporally_constant_weight: 0.2
+  temporally_increasing_weight: 0.0
+  temporally_random_weights: 0.0
+  chunk_wise_weight: 0.8
+  buffer_init: zero
+ema:
+  _target_: diffusion_policy.model.diffusion.ema_model.EMAModel
+  update_after_step: 0
+  inv_gamma: 1.0
+  power: 0.75
+  min_value: 0.0
+  max_value: 0.9999
+dataloader:
+  batch_size: 64
+  num_workers: 16
+  shuffle: true
+  pin_memory: true
+  persistent_workers: true
+val_dataloader:
+  batch_size: 64
+  num_workers: 16
+  shuffle: false
+  pin_memory: true
+  persistent_workers: true
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 42
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 1001
+  gradient_accumulate_every: 1
+  use_ema: true
+  rollout_every: 50
+  checkpoint_every: 50
+  val_every: 1
+  sample_every: 5
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: diffusion_policy_debug
+  resume: true
+  mode: online
+  name: 2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_0
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: 15dbwfa5_train_0
+  group: 15dbwfa5
+checkpoint:
+  topk:
+    monitor_key: test_mean_score
+    mode: max
+    k: 1
+    format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
+  save_last_ckpt: false
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+task:
+  name: pusht_image
+  image_shape:
+  - 3
+  - 96
+  - 96
+  shape_meta:
+    obs:
+      image:
+        shape:
+        - 3
+        - 96
+        - 96
+        type: rgb
+      agent_pos:
+        shape:
+        - 2
+        type: low_dim
+    action:
+      shape:
+      - 2
+  env_runner:
+    _target_: diffusion_policy.env_runner.pusht_image_runner.PushTImageRunner
+    n_train: 6
+    n_train_vis: 2
+    train_start_seed: 0
+    n_test: 50
+    n_test_vis: 4
+    legacy_test: true
+    test_start_seed: 4300000
+    max_steps: 300
+    n_obs_steps: ${n_obs_steps}
+    n_action_steps: ${n_action_steps}
+    fps: 10
+    past_action: ${past_action_visible}
+    n_envs: null
+  dataset:
+    _target_: diffusion_policy.dataset.pusht_image_dataset.PushTImageDataset
+    zarr_path: data/pusht/pusht_cchi_v7_replay.zarr
+    horizon: ${horizon}
+    pad_before: ${eval:'${n_obs_steps}-1'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    seed: 42
+    val_ratio: 0.02
+    max_train_episodes: 90

PushT/train_0/.hydra/hydra.yaml

@@ -0,0 +1,168 @@
+hydra:
+  run:
+    dir: data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_0
+  sweep:
+    dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  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.run.dir=data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_0
+    - hydra.mode=RUN
+    task:
+    - task=pusht_image
+    - training.seed=42
+    - task.env_runner.test_start_seed=4300000
+    - logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_0
+    - logging.id=15dbwfa5_train_0
+    - logging.group=15dbwfa5
+  job:
+    name: train
+    chdir: null
+    override_dirname: logging.group=15dbwfa5,logging.id=15dbwfa5_train_0,logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_0,task.env_runner.test_start_seed=4300000,task=pusht_image,training.seed=42
+    id: ???
+    num: ???
+    config_name: train_tedi_unet_hybrid_workspace.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/diffusion_policy/config
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/diffusion_policy/config
+      schema: file
+      provider: command-line
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_0
+    choices:
+      task: pusht_image
+      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: basic
+      hydra/output: default
+  verbose: false

PushT/train_0/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- task=pusht_image
+- training.seed=42
+- task.env_runner.test_start_seed=4300000
+- logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_0
+- logging.id=15dbwfa5_train_0
+- logging.group=15dbwfa5

PushT/train_0/checkpoints/epoch=0250-test_mean_score=0.842.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b878226b74888eaf39dbf435fb4cf651025bc2154e7113a093d10657f654a8
+size 4313219741

PushT/train_0/logs.json.txt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a45b87d2ccf48af2efa7fb9cd04c1d91bc2fd5ce4dc0f2d1200af90ad441bf5b
+size 16722176

PushT/train_0/train.log

@@ -0,0 +1,7 @@
+[2024-11-20 18:09:23,175][diffusion_policy.model.diffusion.conditional_unet1d_tedi][INFO] - number of parameters: 2.527571e+08
+[2024-11-21 01:52:50,952][urllib3.connectionpool][WARNING] - Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 01:52:51,004][urllib3.connectionpool][WARNING] - Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 01:52:51,020][urllib3.connectionpool][WARNING] - Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 01:52:51,054][urllib3.connectionpool][WARNING] - Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 01:52:51,071][urllib3.connectionpool][WARNING] - Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 01:52:51,088][urllib3.connectionpool][WARNING] - Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/

PushT/train_1/.hydra/config.yaml

@@ -0,0 +1,159 @@
+name: train_tedi_unet_hybrid
+_target_: diffusion_policy.workspace.train_tedi_unet_hybrid_workspace.TrainTEDIUnetHybridWorkspace
+task_name: ${task.name}
+shape_meta: ${task.shape_meta}
+exp_name: default
+horizon: 20
+n_obs_steps: 2
+n_action_steps: 8
+n_latency_steps: 0
+dataset_obs_steps: ${n_obs_steps}
+past_action_visible: false
+keypoint_visible_rate: 1.0
+obs_as_global_cond: true
+policy:
+  _target_: diffusion_policy.policy.tedi_unet_hybrid_image_policy.TEDIUnetHybridImagePolicy
+  shape_meta: ${shape_meta}
+  noise_scheduler:
+    _target_: diffusion_policy.policy.schedulers.DDPMTEDiScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${horizon}
+  n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'}
+  n_obs_steps: ${n_obs_steps}
+  num_inference_steps: 100
+  obs_as_global_cond: ${obs_as_global_cond}
+  crop_shape:
+  - 84
+  - 84
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 512
+  - 1024
+  - 2048
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+  obs_encoder_group_norm: true
+  eval_fixed_crop: true
+  temporally_constant_weight: 0.2
+  temporally_increasing_weight: 0.0
+  temporally_random_weights: 0.0
+  chunk_wise_weight: 0.8
+  buffer_init: zero
+ema:
+  _target_: diffusion_policy.model.diffusion.ema_model.EMAModel
+  update_after_step: 0
+  inv_gamma: 1.0
+  power: 0.75
+  min_value: 0.0
+  max_value: 0.9999
+dataloader:
+  batch_size: 64
+  num_workers: 16
+  shuffle: true
+  pin_memory: true
+  persistent_workers: true
+val_dataloader:
+  batch_size: 64
+  num_workers: 16
+  shuffle: false
+  pin_memory: true
+  persistent_workers: true
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 43
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 1001
+  gradient_accumulate_every: 1
+  use_ema: true
+  rollout_every: 50
+  checkpoint_every: 50
+  val_every: 1
+  sample_every: 5
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: diffusion_policy_debug
+  resume: true
+  mode: online
+  name: 2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_1
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: 15dbwfa5_train_1
+  group: 15dbwfa5
+checkpoint:
+  topk:
+    monitor_key: test_mean_score
+    mode: max
+    k: 1
+    format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
+  save_last_ckpt: false
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+task:
+  name: pusht_image
+  image_shape:
+  - 3
+  - 96
+  - 96
+  shape_meta:
+    obs:
+      image:
+        shape:
+        - 3
+        - 96
+        - 96
+        type: rgb
+      agent_pos:
+        shape:
+        - 2
+        type: low_dim
+    action:
+      shape:
+      - 2
+  env_runner:
+    _target_: diffusion_policy.env_runner.pusht_image_runner.PushTImageRunner
+    n_train: 6
+    n_train_vis: 2
+    train_start_seed: 0
+    n_test: 50
+    n_test_vis: 4
+    legacy_test: true
+    test_start_seed: 4400000
+    max_steps: 300
+    n_obs_steps: ${n_obs_steps}
+    n_action_steps: ${n_action_steps}
+    fps: 10
+    past_action: ${past_action_visible}
+    n_envs: null
+  dataset:
+    _target_: diffusion_policy.dataset.pusht_image_dataset.PushTImageDataset
+    zarr_path: data/pusht/pusht_cchi_v7_replay.zarr
+    horizon: ${horizon}
+    pad_before: ${eval:'${n_obs_steps}-1'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    seed: 42
+    val_ratio: 0.02
+    max_train_episodes: 90

PushT/train_1/.hydra/hydra.yaml

@@ -0,0 +1,168 @@
+hydra:
+  run:
+    dir: data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_1
+  sweep:
+    dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  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.run.dir=data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_1
+    - hydra.mode=RUN
+    task:
+    - task=pusht_image
+    - training.seed=43
+    - task.env_runner.test_start_seed=4400000
+    - logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_1
+    - logging.id=15dbwfa5_train_1
+    - logging.group=15dbwfa5
+  job:
+    name: train
+    chdir: null
+    override_dirname: logging.group=15dbwfa5,logging.id=15dbwfa5_train_1,logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_1,task.env_runner.test_start_seed=4400000,task=pusht_image,training.seed=43
+    id: ???
+    num: ???
+    config_name: train_tedi_unet_hybrid_workspace.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/diffusion_policy/config
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/diffusion_policy/config
+      schema: file
+      provider: command-line
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_1
+    choices:
+      task: pusht_image
+      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: basic
+      hydra/output: default
+  verbose: false

PushT/train_1/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- task=pusht_image
+- training.seed=43
+- task.env_runner.test_start_seed=4400000
+- logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_1
+- logging.id=15dbwfa5_train_1
+- logging.group=15dbwfa5

PushT/train_1/checkpoints/epoch=0200-test_mean_score=0.823.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e936417dfb4f3a34f3e23645febbffa500ace71e0a3227b7b8f46a89ff17ea9d
+size 4313219741

PushT/train_1/logs.json.txt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e80512752630e5da4930fc1ae94ed10828df931e8345256453f93c32a685480
+size 16720946

PushT/train_1/train.log

@@ -0,0 +1,7 @@
+[2024-11-20 18:09:23,177][diffusion_policy.model.diffusion.conditional_unet1d_tedi][INFO] - number of parameters: 2.527571e+08
+[2024-11-21 02:17:47,811][urllib3.connectionpool][WARNING] - Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:17:47,855][urllib3.connectionpool][WARNING] - Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:17:47,872][urllib3.connectionpool][WARNING] - Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:17:47,905][urllib3.connectionpool][WARNING] - Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:17:47,922][urllib3.connectionpool][WARNING] - Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:17:47,938][urllib3.connectionpool][WARNING] - Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/

PushT/train_2/.hydra/config.yaml

@@ -0,0 +1,159 @@
+name: train_tedi_unet_hybrid
+_target_: diffusion_policy.workspace.train_tedi_unet_hybrid_workspace.TrainTEDIUnetHybridWorkspace
+task_name: ${task.name}
+shape_meta: ${task.shape_meta}
+exp_name: default
+horizon: 20
+n_obs_steps: 2
+n_action_steps: 8
+n_latency_steps: 0
+dataset_obs_steps: ${n_obs_steps}
+past_action_visible: false
+keypoint_visible_rate: 1.0
+obs_as_global_cond: true
+policy:
+  _target_: diffusion_policy.policy.tedi_unet_hybrid_image_policy.TEDIUnetHybridImagePolicy
+  shape_meta: ${shape_meta}
+  noise_scheduler:
+    _target_: diffusion_policy.policy.schedulers.DDPMTEDiScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${horizon}
+  n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'}
+  n_obs_steps: ${n_obs_steps}
+  num_inference_steps: 100
+  obs_as_global_cond: ${obs_as_global_cond}
+  crop_shape:
+  - 84
+  - 84
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 512
+  - 1024
+  - 2048
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+  obs_encoder_group_norm: true
+  eval_fixed_crop: true
+  temporally_constant_weight: 0.2
+  temporally_increasing_weight: 0.0
+  temporally_random_weights: 0.0
+  chunk_wise_weight: 0.8
+  buffer_init: zero
+ema:
+  _target_: diffusion_policy.model.diffusion.ema_model.EMAModel
+  update_after_step: 0
+  inv_gamma: 1.0
+  power: 0.75
+  min_value: 0.0
+  max_value: 0.9999
+dataloader:
+  batch_size: 64
+  num_workers: 16
+  shuffle: true
+  pin_memory: true
+  persistent_workers: true
+val_dataloader:
+  batch_size: 64
+  num_workers: 16
+  shuffle: false
+  pin_memory: true
+  persistent_workers: true
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 44
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 1001
+  gradient_accumulate_every: 1
+  use_ema: true
+  rollout_every: 50
+  checkpoint_every: 50
+  val_every: 1
+  sample_every: 5
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: diffusion_policy_debug
+  resume: true
+  mode: online
+  name: 2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_2
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: 15dbwfa5_train_2
+  group: 15dbwfa5
+checkpoint:
+  topk:
+    monitor_key: test_mean_score
+    mode: max
+    k: 1
+    format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
+  save_last_ckpt: false
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+task:
+  name: pusht_image
+  image_shape:
+  - 3
+  - 96
+  - 96
+  shape_meta:
+    obs:
+      image:
+        shape:
+        - 3
+        - 96
+        - 96
+        type: rgb
+      agent_pos:
+        shape:
+        - 2
+        type: low_dim
+    action:
+      shape:
+      - 2
+  env_runner:
+    _target_: diffusion_policy.env_runner.pusht_image_runner.PushTImageRunner
+    n_train: 6
+    n_train_vis: 2
+    train_start_seed: 0
+    n_test: 50
+    n_test_vis: 4
+    legacy_test: true
+    test_start_seed: 4500000
+    max_steps: 300
+    n_obs_steps: ${n_obs_steps}
+    n_action_steps: ${n_action_steps}
+    fps: 10
+    past_action: ${past_action_visible}
+    n_envs: null
+  dataset:
+    _target_: diffusion_policy.dataset.pusht_image_dataset.PushTImageDataset
+    zarr_path: data/pusht/pusht_cchi_v7_replay.zarr
+    horizon: ${horizon}
+    pad_before: ${eval:'${n_obs_steps}-1'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    seed: 42
+    val_ratio: 0.02
+    max_train_episodes: 90

PushT/train_2/.hydra/hydra.yaml

@@ -0,0 +1,168 @@
+hydra:
+  run:
+    dir: data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_2
+  sweep:
+    dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  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.run.dir=data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_2
+    - hydra.mode=RUN
+    task:
+    - task=pusht_image
+    - training.seed=44
+    - task.env_runner.test_start_seed=4500000
+    - logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_2
+    - logging.id=15dbwfa5_train_2
+    - logging.group=15dbwfa5
+  job:
+    name: train
+    chdir: null
+    override_dirname: logging.group=15dbwfa5,logging.id=15dbwfa5_train_2,logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_2,task.env_runner.test_start_seed=4500000,task=pusht_image,training.seed=44
+    id: ???
+    num: ???
+    config_name: train_tedi_unet_hybrid_workspace.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/diffusion_policy/config
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/diffusion_policy/config
+      schema: file
+      provider: command-line
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /tmp/ray/session_2024-11-20_18-08-24_619058_2941820/runtime_resources/working_dir_files/_ray_pkg_a254c17765b6da76/data/outputs/2024.11.20/18.08.46_train_tedi_unet_hybrid_pusht_image/train_2
+    choices:
+      task: pusht_image
+      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: basic
+      hydra/output: default
+  verbose: false

PushT/train_2/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- task=pusht_image
+- training.seed=44
+- task.env_runner.test_start_seed=4500000
+- logging.name=2024.11.20-18.08.46_train_tedi_unet_hybrid_pusht_image_train_2
+- logging.id=15dbwfa5_train_2
+- logging.group=15dbwfa5

PushT/train_2/checkpoints/epoch=0200-test_mean_score=0.807.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a0ea3372d2d2790d31770b6733049516b828728338c4886ea5e4ae34080c90
+size 4313219741

PushT/train_2/logs.json.txt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85caa7e7dc64930ff961e566c278ae09145cb00f37534730d6f8806d7056dd7e
+size 16720977

PushT/train_2/train.log

@@ -0,0 +1,7 @@
+[2024-11-20 18:09:23,168][diffusion_policy.model.diffusion.conditional_unet1d_tedi][INFO] - number of parameters: 2.527571e+08
+[2024-11-21 02:08:06,754][urllib3.connectionpool][WARNING] - Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:08:06,797][urllib3.connectionpool][WARNING] - Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:08:06,813][urllib3.connectionpool][WARNING] - Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:08:06,847][urllib3.connectionpool][WARNING] - Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:08:06,863][urllib3.connectionpool][WARNING] - Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/
+[2024-11-21 02:08:06,880][urllib3.connectionpool][WARNING] - Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(FileNotFoundError(2, 'No such file or directory'))': /api/4504800232407040/envelope/