diff --git a/models/main/ik_delta_joint_mip_chiunet_seed0/config3_bs512/2026-05-14_18-01-36/config.yaml b/models/main/ik_delta_joint_mip_chiunet_seed0/config3_bs512/2026-05-14_18-01-36/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d2f87f08734a71e302c977ddc8bc113165c5f4e --- /dev/null +++ b/models/main/ik_delta_joint_mip_chiunet_seed0/config3_bs512/2026-05-14_18-01-36/config.yaml @@ -0,0 +1,75 @@ +log: + log_dir: experiments + wandb_mode: online + project: mip + group: main + exp_name: ik_delta_joint_mip_chiunet_seed0 + exp_tag: config3_bs512 + eval_freq: 20000 + log_freq: 1000 + save_freq: 20000 + eval_episodes: 50 + save_video: false +optimization: + seed: 0 + loss_type: mip + loss_scale: 1.0 + norm_type: l2 + lr: 0.0001 + weight_decay: 1.0e-05 + num_steps: 1 + sample_mode: zero + t_two_step: 0.9 + discrete_dt: 0.01 + grad_clip_norm: 10.0 + ema_rate: 0.995 + batch_size: 512 + gradient_steps: 300000 + warmup_ratio: 0.0 + rampup_ratio: 0.0 + min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: chiunet + num_layers: 6 + dropout: 0.0 + timestep_emb_dim: 128 + model_dim: 128 + kernel_size: 5 + cond_predict_scale: true + obs_as_global_cond: true + dim_mult: + - 1 + - 2 + - 2 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data + obs_dim: 20 + act_dim: 6 + obs_steps: 2 + act_steps: 1 + horizon: 4 + max_episode_steps: 300 + num_envs: 1 + val_dataset_percentage: 0.1 +mode: train diff --git 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exp_tag: config3_bs512 + eval_freq: 20000 + log_freq: 1000 + save_freq: 20000 + eval_episodes: 50 + save_video: false +optimization: + seed: 1 + loss_type: mip + loss_scale: 1.0 + norm_type: l2 + lr: 0.0001 + weight_decay: 1.0e-05 + num_steps: 1 + sample_mode: zero + t_two_step: 0.9 + discrete_dt: 0.01 + grad_clip_norm: 10.0 + ema_rate: 0.995 + batch_size: 512 + gradient_steps: 300000 + warmup_ratio: 0.0 + rampup_ratio: 0.0 + min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: chiunet + num_layers: 6 + dropout: 0.0 + timestep_emb_dim: 128 + model_dim: 128 + kernel_size: 5 + cond_predict_scale: true + obs_as_global_cond: true + dim_mult: + - 1 + - 2 + - 2 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data + obs_dim: 20 + act_dim: 6 + obs_steps: 2 + act_steps: 1 + horizon: 1 + max_episode_steps: 300 + num_envs: 1 + val_dataset_percentage: 0.1 +mode: train diff --git a/models/main/ik_delta_joint_mip_chiunet_seed1/config3_bs512/2026-05-19_00-24-14/config.yaml b/models/main/ik_delta_joint_mip_chiunet_seed1/config3_bs512/2026-05-19_00-24-14/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f733ace7f7391585c8ab24f33be62865d7fd701 --- /dev/null +++ b/models/main/ik_delta_joint_mip_chiunet_seed1/config3_bs512/2026-05-19_00-24-14/config.yaml @@ -0,0 +1,75 @@ +log: + log_dir: experiments + wandb_mode: online + project: mip + group: main + exp_name: ik_delta_joint_mip_chiunet_seed1 + exp_tag: config3_bs512 + eval_freq: 20000 + log_freq: 1000 + save_freq: 20000 + eval_episodes: 50 + save_video: false +optimization: + seed: 1 + loss_type: mip + loss_scale: 1.0 + norm_type: l2 + lr: 0.0001 + weight_decay: 1.0e-05 + num_steps: 1 + sample_mode: zero + t_two_step: 0.9 + discrete_dt: 0.01 + grad_clip_norm: 10.0 + ema_rate: 0.995 + batch_size: 512 + gradient_steps: 300000 + warmup_ratio: 0.0 + rampup_ratio: 0.0 + min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: chiunet + num_layers: 6 + dropout: 0.0 + timestep_emb_dim: 128 + model_dim: 128 + kernel_size: 5 + cond_predict_scale: true + obs_as_global_cond: true + dim_mult: + - 1 + - 2 + - 2 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: 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b/models/main/ik_delta_joint_mip_fk_sudeepdit_seed0/config1/2026-05-12_02-12-43/config.yaml @@ -0,0 +1,73 @@ +log: + log_dir: /home/geo/Documents/Github/NatureIK/experiments + wandb_mode: online + project: mip_ik_baselines + group: main + exp_name: ik_delta_joint_mip_fk_sudeepdit_seed0 + exp_tag: config1 + eval_freq: 20000 + log_freq: 1000 + save_freq: 20000 + eval_episodes: 50 + save_video: false +optimization: + seed: 0 + loss_type: mip + loss_scale: 1.0 + norm_type: l2 + lr: 0.0001 + weight_decay: 1.0e-05 + num_steps: 1 + sample_mode: zero + t_two_step: 0.9 + discrete_dt: 0.01 + grad_clip_norm: 10.0 + ema_rate: 0.995 + batch_size: 512 + gradient_steps: 300000 + warmup_ratio: 0.0 + rampup_ratio: 0.0 + min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: sudeepdit + num_layers: 8 + dropout: 0.1 + timestep_emb_dim: 128 + n_heads: 4 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data + obs_dim: 20 + act_dim: 6 + obs_steps: 2 + act_steps: 1 + horizon: 1 + max_episode_steps: 300 + num_envs: 1 + val_dataset_percentage: 0.1 + urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf + end_link_name: end_link + fk_loss_weight: 0.1 + fk_pos_weight: 1.0 + fk_rot_weight: 0.1 +mode: train diff --git a/models/main/ik_delta_joint_mip_fk_sudeepdit_seed0/config1/2026-05-12_02-12-43/latest_sudeepdit.pt b/models/main/ik_delta_joint_mip_fk_sudeepdit_seed0/config1/2026-05-12_02-12-43/latest_sudeepdit.pt new file mode 100644 index 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eval_episodes: 50 + save_video: false +optimization: + seed: 0 + loss_type: mip + loss_scale: 1.0 + norm_type: l2 + lr: 0.0001 + weight_decay: 1.0e-05 + num_steps: 1 + sample_mode: zero + t_two_step: 0.9 + discrete_dt: 0.01 + grad_clip_norm: 10.0 + ema_rate: 0.995 + batch_size: 4096 + gradient_steps: 300000 + warmup_ratio: 0.0 + rampup_ratio: 0.0 + min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: sudeepdit + num_layers: 8 + dropout: 0.1 + timestep_emb_dim: 128 + n_heads: 4 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: 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min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: sudeepdit + num_layers: 8 + dropout: 0.1 + timestep_emb_dim: 128 + n_heads: 4 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data + obs_dim: 20 + act_dim: 6 + obs_steps: 2 + act_steps: 1 + horizon: 1 + max_episode_steps: 300 + num_envs: 1 + val_dataset_percentage: 0.1 + urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf + end_link_name: end_link + fk_loss_weight: 0.1 + fk_pos_weight: 1.0 + fk_rot_weight: 0.1 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timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data + obs_dim: 20 + act_dim: 6 + obs_steps: 2 + act_steps: 1 + horizon: 1 + max_episode_steps: 300 + num_envs: 1 + val_dataset_percentage: 0.1 + urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf + end_link_name: end_link + fk_loss_weight: 0.1 + fk_pos_weight: 1.0 + fk_rot_weight: 0.1 +mode: train diff --git a/models/main/ik_delta_joint_mip_fk_sudeepdit_seed1/config3_bs512/2026-05-17_16-30-22/latest_sudeepdit.pt b/models/main/ik_delta_joint_mip_fk_sudeepdit_seed1/config3_bs512/2026-05-17_16-30-22/latest_sudeepdit.pt new file mode 100644 index 0000000000000000000000000000000000000000..102a719a6e1ba6c58f5b62d2af9e584e70453b46 --- /dev/null +++ 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ema_rate: 0.995 + batch_size: 512 + gradient_steps: 300000 + warmup_ratio: 0.0 + rampup_ratio: 0.0 + min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: sudeepdit + num_layers: 8 + dropout: 0.1 + timestep_emb_dim: 128 + n_heads: 4 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data + obs_dim: 20 + act_dim: 6 + obs_steps: 2 + act_steps: 1 + horizon: 1 + max_episode_steps: 300 + num_envs: 1 + val_dataset_percentage: 0.1 + urdf_path: 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rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: true + network_type: sudeepdit + num_layers: 8 + dropout: 0.1 + timestep_emb_dim: 128 + n_heads: 4 + timestep_emb_type: positional +task: + env_name: ik_delta_joint + obs_type: state + env_type: ik + action_type: delta + abs_action: false + dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data + obs_dim: 20 + act_dim: 6 + obs_steps: 2 + act_steps: 1 + horizon: 1 + max_episode_steps: 300 + num_envs: 1 + val_dataset_percentage: 0.1 + urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf + end_link_name: end_link + fk_loss_weight: 0.1 + fk_pos_weight: 1.0 + fk_rot_weight: 0.1 +mode: train diff --git a/models/main/ik_delta_joint_mip_sudeepdit_seed0/config1/2026-05-11_06-10-14/config.yaml b/models/main/ik_delta_joint_mip_sudeepdit_seed0/config1/2026-05-11_06-10-14/config.yaml new file mode 100644 index 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b/models/main/ik_delta_joint_mip_sudeepdit_seed3/config3_bs512/2026-05-19_15-28-17/config.yaml @@ -0,0 +1,68 @@ +log: + log_dir: experiments + wandb_mode: online + project: mip + group: main + exp_name: ik_delta_joint_mip_sudeepdit_seed3 + exp_tag: config3_bs512 + eval_freq: 20000 + log_freq: 1000 + save_freq: 20000 + eval_episodes: 50 + save_video: false +optimization: + seed: 3 + loss_type: mip + loss_scale: 1.0 + norm_type: l2 + lr: 0.0001 + weight_decay: 1.0e-05 + num_steps: 1 + sample_mode: zero + t_two_step: 0.9 + discrete_dt: 0.01 + grad_clip_norm: 10.0 + ema_rate: 0.995 + batch_size: 512 + gradient_steps: 300000 + warmup_ratio: 0.0 + rampup_ratio: 0.0 + min_value: 1.0 + max_value: 1.0 + model_path: null + interp_type: linear + device: cuda + use_compile: false + compile_mode: null + use_cudagraphs: false + auto_resume: true +network: + num_encoder_layers: 2 + encoder_dropout: 0.0 + encoder_type: mlp + emb_dim: 256 + rgb_model_name: resnet18 + use_seq: true + keep_horizon_dims: 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