diff --git a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/config.yaml b/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/config.yaml deleted file mode 100644 index 64aba8c0726958622b373f051965dba6662eea36..0000000000000000000000000000000000000000 --- a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/config.yaml +++ /dev/null @@ -1,150 +0,0 @@ -name: train_diffusion_unet_lowdim -_target_: llmbc.workspace.train_diffusion_unet_lowdim_workspace.TrainDiffusionUnetLowdimWorkspace -obs_dim: ${task.obs_dim} -action_dim: ${task.action_dim} -task_name: ${task.name} -exp_name: default -horizon: 1 -n_obs_steps: 1 -n_action_steps: 1 -n_latency_steps: 0 -past_action_visible: false -keypoint_visible_rate: 1.0 -obs_as_local_cond: false -obs_as_global_cond: true -pred_action_steps_only: false -policy: - _target_: llmbc.policy.diffusion_unet_lowdim_policy.DiffusionUnetLowdimPolicy - model: - _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D - input_dim: '${eval: ${task.action_dim} if ${obs_as_local_cond} or ${obs_as_global_cond} - else ${task.obs_dim} + ${task.action_dim}}' - local_cond_dim: '${eval: ${task.obs_dim} if ${obs_as_local_cond} else None}' - global_cond_dim: '${eval: ${task.obs_dim}*${n_obs_steps} if ${obs_as_global_cond} - else None}' - diffusion_step_embed_dim: 256 - down_dims: - - 256 - - 512 - - 1024 - kernel_size: 5 - n_groups: 8 - cond_predict_scale: true - noise_scheduler: - _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler - 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} - obs_dim: ${obs_dim} - action_dim: ${action_dim} - n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} - n_obs_steps: ${n_obs_steps} - num_inference_steps: 100 - obs_as_local_cond: ${obs_as_local_cond} - obs_as_global_cond: ${obs_as_global_cond} - pred_action_steps_only: ${pred_action_steps_only} - oa_step_convention: true -ema: - _target_: llmbc.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: 128 - num_workers: 0 - shuffle: true - pin_memory: false - persistent_workers: false -val_dataloader: - batch_size: 128 - num_workers: 0 - shuffle: false - pin_memory: false - persistent_workers: false -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: 50001 - gradient_accumulate_every: 1 - use_ema: true - rollout_every: 250 - checkpoint_every: 250 - val_every: 1 - sample_every: 250 - max_train_steps: null - max_val_steps: null - tqdm_interval_sec: 1.0 -logging: - project: ${task.name}-training-split-ablation - resume: true - mode: online - name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} - tags: - - ${name} - - ${task_name} - - ${exp_name} - id: null - group: null -checkpoint: - topk: - monitor_key: test_success_rate - mode: max - k: 5 - format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt - save_last_ckpt: true - save_last_snapshot: false -multi_run: - run_dir: data/outputs/${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: box-close-v2 - obs_dim: 9 - action_dim: 4 - env_runner: - _target_: llmbc.env_runner.metaworld_lowdim_runner.MetaworldLowdimRunner - env_name: llf-metaworld-box-close-v2 - n_train: 10 - n_test: 50 - n_envs: 10 - max_steps: 30 - n_obs_steps: ${n_obs_steps} - n_action_steps: ${n_action_steps} - instruction_type: b - feedback_type: - - hp - - hn - - fp - visual: false - discount: 0.9 - dataset: - _target_: llmbc.dataset.metaworld_lowdim_dataset.MetaworldLowdimDataset - data_path: datasets/box-close-v2-split0.02.pt - data_path2: datasets/box-close-v2-split0.02.pt - horizon: ${horizon} - pad_before: ${eval:'${n_obs_steps}-1'} - pad_after: ${eval:'${n_action_steps}-1'} - obs_eef_target: true - use_manual_normalizer: false - val_ratio: 0.1 - dummy_normalizer: false - instructor: - _target_: llmbc.translator.instructor.metaworld_instructor.box_close_v2_instructor.BoxCloseV2Instructor diff --git a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/hydra.yaml b/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/hydra.yaml deleted file mode 100644 index ea379fa72f2e8780decc2e424cc451cb4497e442..0000000000000000000000000000000000000000 --- a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/hydra.yaml +++ /dev/null @@ -1,156 +0,0 @@ -hydra: - run: - dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} - 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.mode=RUN - task: - - training.seed=43 - job: - name: train_diffusion_unet_lowdim_workspace - chdir: null - override_dirname: training.seed=43 - id: ??? - num: ??? - config_name: train_diffusion_unet_lowdim_workspace - env_set: {} - env_copy: [] - config: - override_dirname: - kv_sep: '=' - item_sep: ',' - exclude_keys: [] - runtime: - version: 1.2.0 - version_base: '1.2' - cwd: /home/chyang/workspace/LLM-BC - config_sources: - - path: hydra.conf - schema: pkg - provider: hydra - - path: /home/chyang/workspace/LLM-BC/llmbc/config - schema: file - provider: main - - path: '' - schema: structured - provider: schema - output_dir: /home/chyang/workspace/LLM-BC/data/outputs/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2 - choices: - task: box-close-v2 - 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 diff --git a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/overrides.yaml b/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/overrides.yaml deleted file mode 100644 index ebf61aeca24956094799b4a1cab9370df040027f..0000000000000000000000000000000000000000 --- a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/.hydra/overrides.yaml +++ /dev/null @@ -1 +0,0 @@ -- training.seed=43 diff --git a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/checkpoints/epoch=1500-test_success_rate=0.700.ckpt b/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/checkpoints/epoch=1500-test_success_rate=0.700.ckpt deleted file mode 100644 index 3ad2516bd038a31b190f7166749242741c0de566..0000000000000000000000000000000000000000 --- a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/checkpoints/epoch=1500-test_success_rate=0.700.ckpt +++ /dev/null @@ -1,3 +0,0 @@ -version 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llmbc.workspace.train_diffusion_unet_lowdim_workspace.TrainDiffusionUnetLowdimWorkspace -_wandb: - value: - cli_version: 0.18.6 - m: [] - python_version: 3.9.20 - t: - "1": - - 1 - - 2 - - 3 - - 5 - - 11 - - 12 - - 41 - - 49 - - 50 - - 51 - - 53 - - 55 - - 71 - - 83 - - 95 - - 98 - - 100 - "2": - - 1 - - 2 - - 3 - - 5 - - 11 - - 12 - - 41 - - 49 - - 50 - - 51 - - 53 - - 55 - - 71 - - 83 - - 95 - - 98 - - 100 - "3": - - 13 - - 15 - - 16 - - 23 - - 55 - - 61 - "4": 3.9.20 - "5": 0.18.6 - "6": 4.47.1 - "8": - - 5 - "12": 0.18.6 - "13": linux-x86_64 -action_dim: - value: 4 -checkpoint: - value: - save_last_ckpt: true - save_last_snapshot: false - topk: - format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt - k: 5 - mode: max - monitor_key: test_success_rate -dataloader: - value: - batch_size: 128 - num_workers: 0 - persistent_workers: false - pin_memory: false - shuffle: true -ema: - value: - _target_: llmbc.model.diffusion.ema_model.EMAModel - inv_gamma: 1 - max_value: 0.9999 - min_value: 0 - power: 0.75 - update_after_step: 0 -exp_name: - value: default -horizon: - value: 1 -keypoint_visible_rate: - value: 1 -logging: - value: - group: null - id: null - mode: online - name: 2025.12.10-15.29.12_train_diffusion_unet_lowdim_box-close-v2 - project: box-close-v2-training-split-ablation - resume: true - tags: - - train_diffusion_unet_lowdim - - box-close-v2 - - default -multi_run: - value: - run_dir: data/outputs/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2 - wandb_name_base: 2025.12.10-15.29.12_train_diffusion_unet_lowdim_box-close-v2 -n_action_steps: - value: 1 -n_latency_steps: - value: 0 -n_obs_steps: - value: 1 -name: - value: train_diffusion_unet_lowdim -obs_as_global_cond: - value: true -obs_as_local_cond: - value: false -obs_dim: - value: 9 -optimizer: - value: - _target_: torch.optim.AdamW - betas: - - 0.95 - - 0.999 - eps: 1e-08 - lr: 0.0001 - weight_decay: 1e-06 -output_dir: - value: 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-pred_action_steps_only: - value: false -task: - value: - action_dim: 4 - dataset: - _target_: llmbc.dataset.metaworld_lowdim_dataset.MetaworldLowdimDataset - data_path: datasets/box-close-v2-split0.02.pt - data_path2: datasets/box-close-v2-split0.02.pt - dummy_normalizer: false - horizon: 1 - obs_eef_target: true - pad_after: 0 - pad_before: 0 - use_manual_normalizer: false - val_ratio: 0.1 - env_runner: - _target_: llmbc.env_runner.metaworld_lowdim_runner.MetaworldLowdimRunner - discount: 0.9 - env_name: llf-metaworld-box-close-v2 - feedback_type: - - hp - - hn - - fp - instruction_type: b - max_steps: 30 - n_action_steps: 1 - n_envs: 10 - n_obs_steps: 1 - n_test: 50 - n_train: 10 - visual: false - instructor: - _target_: llmbc.translator.instructor.metaworld_instructor.box_close_v2_instructor.BoxCloseV2Instructor - name: box-close-v2 - obs_dim: 9 -task_name: - value: box-close-v2 -training: - value: - checkpoint_every: 250 - 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: 50001 - resume: true - rollout_every: 250 - sample_every: 250 - seed: 43 - tqdm_interval_sec: 1 - use_ema: true - val_every: 1 -val_dataloader: - value: - batch_size: 128 - num_workers: 0 - persistent_workers: false - pin_memory: false - shuffle: false diff --git a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/wandb/run-20251210_152912-cn71kmg5/files/output.log b/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/wandb/run-20251210_152912-cn71kmg5/files/output.log deleted file mode 100644 index d4e364d3badefab636287070d0255adc6773a8bd..0000000000000000000000000000000000000000 --- a/2025.12.10/15.29.06_train_diffusion_unet_lowdim_box-close-v2/wandb/run-20251210_152912-cn71kmg5/files/output.log +++ /dev/null @@ -1,3 +0,0 @@ -Eval MetaworldLowdimRunner 1/6: 0%| | 0/30 [00:00