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Feature/ddp #13

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Feature/ddp #13

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4fa3bb1
feat: add memory replay buffer
TMats May 26, 2023
e33dda9
test: add mp and logger
TMats May 26, 2023
e82291f
debug: print debug for hydraconfig error
TMats May 26, 2023
813693f
fix: ddp train
TMats May 26, 2023
ae53438
Merge branch 'feature/mount-on-memory' of github.com:TMats/diffusion_…
TMats May 26, 2023
594665e
fix: output_dir
TMats May 26, 2023
625c1cc
fix: log interval
TMats May 26, 2023
911ca33
fix: tqdm text
TMats May 28, 2023
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379 changes: 379 additions & 0 deletions config.yaml
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Original file line number Diff line number Diff line change
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_target_: diffusion_policy.workspace.train_diffusion_unet_hybrid_workspace.TrainDiffusionUnetHybridWorkspace
checkpoint:
save_last_ckpt: true
save_last_snapshot: false
topk:
format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
k: 5
mode: max
monitor_key: test_mean_score
dataloader:
batch_size: 64
num_workers: 8
persistent_workers: false
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: 16
keypoint_visible_rate: 1.0
logging:
group: null
id: null
mode: online
name: 2023.01.03-19.43.07_train_diffusion_unet_hybrid_transport_image
project: diffusion_policy_debug
resume: true
tags:
- train_diffusion_unet_hybrid
- transport_image
- default
multi_run:
run_dir: data/outputs/2023.01.03/19.43.07_train_diffusion_unet_hybrid_transport_image
wandb_name_base: 2023.01.03-19.43.07_train_diffusion_unet_hybrid_transport_image
n_action_steps: 8
n_latency_steps: 0
n_obs_steps: 2
name: train_diffusion_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.diffusion_unet_hybrid_image_policy.DiffusionUnetHybridImagePolicy
cond_predict_scale: true
crop_shape:
- 76
- 76
diffusion_step_embed_dim: 128
down_dims:
- 512
- 1024
- 2048
eval_fixed_crop: true
horizon: 16
kernel_size: 5
n_action_steps: 8
n_groups: 8
n_obs_steps: 2
noise_scheduler:
_target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
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
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/mh/image_abs.hdf5
horizon: 16
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: false
val_ratio: 0.02
dataset_path: data/robomimic/datasets/transport/mh/image_abs.hdf5
dataset_type: mh
env_runner:
_target_: diffusion_policy.env_runner.robomimic_image_runner.RobomimicImageRunner
abs_action: true
crf: 22
dataset_path: data/robomimic/datasets/transport/mh/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: 3000
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: 8
persistent_workers: false
pin_memory: true
shuffle: false
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