Delete 2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1

2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/.hydra/config.yaml

@@ -1,148 +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: 256
-  num_workers: 1
-  shuffle: true
-  pin_memory: true
-  persistent_workers: false
-val_dataloader:
-  batch_size: 256
-  num_workers: 1
-  shuffle: false
-  pin_memory: true
-  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: 44
-  debug: false
-  resume: true
-  lr_scheduler: cosine
-  lr_warmup_steps: 500
-  num_epochs: 1001
-  gradient_accumulate_every: 1
-  use_ema: true
-  rollout_every: 5
-  checkpoint_every: 5
-  val_every: 1
-  sample_every: 5
-  max_train_steps: null
-  max_val_steps: null
-  tqdm_interval_sec: 1.0
-logging:
-  project: ${task.name}-training
-  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: PegInsertionSide-v1
-  obs_dim: 43
-  action_dim: 8
-  env_runner:
-    _target_: llmbc.env_runner.maniskill_lowdim_runner.ManiskillLowdimRunner
-    env_name: llf-maniskill-PegInsertionSide-v1
-    instruction_type: b
-    feedback_type:
-    - hp
-    - hn
-    visual: false
-    n_train: 10
-    n_test: 50
-    n_envs: 10
-    max_steps: 100
-    n_obs_steps: ${n_obs_steps}
-    n_action_steps: ${n_action_steps}
-    discount: 0.99
-  dataset:
-    _target_: llmbc.dataset.maniskill_lowdim_dataset.ManiskillLowdimDataset
-    data_path: datasets/PegInsertionSide-v1.pt
-    data_path2: datasets/PegInsertionSide-v1.pt
-    horizon: ${horizon}
-    pad_before: ${eval:'${n_obs_steps}-1'}
-    pad_after: ${eval:'${n_action_steps}-1'}
-    use_manual_normalizer: false
-    val_ratio: 0.02
-    dummy_normalizer: false
-  instructor:
-    _target_: llmbc.translator.instructor.maniskill_instructor.PegInsertionSide_v1_instructor.PegInsertionSideV1Instructor

2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/.hydra/hydra.yaml

@@ -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=44
-  job:
-    name: train_diffusion_unet_lowdim_workspace
-    chdir: null
-    override_dirname: training.seed=44
-    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/2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1
-    choices:
-      task: PegInsertionSide-v1
-      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

2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/.hydra/overrides.yaml

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-- training.seed=44

2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/checkpoints/epoch=0320-test_success_rate=0.520.ckpt

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2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/checkpoints/latest.ckpt

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2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/train_diffusion_unet_lowdim_workspace.log

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-[2025-09-26 15:45:30,644][llmbc.model.diffusion.conditional_unet1d][INFO] - number of parameters: 6.550938e+07
-[2025-09-26 15:45:35,668][absl][INFO] - MUJOCO_GL=osmesa, attempting to import specified OpenGL backend.
-[2025-09-26 15:45:35,681][absl][INFO] - MuJoCo library version is: 2.3.7
-[2025-09-26 15:45:35,777][datasets][INFO] - PyTorch version 2.2.2 available.
-[2025-09-26 15:45:35,777][datasets][INFO] - TensorFlow version 2.15.1 available.
-[2025-09-26 15:45:35,778][datasets][INFO] - JAX version 0.4.30 available.

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2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/wandb/debug.log

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-2025-09-26 15:45:36,887 INFO    MainThread:514654 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6
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-2025-09-26 15:45:36,888 INFO    MainThread:514654 [wandb_setup.py:_flush():79] Loading settings from /home/chyang/.config/wandb/settings
-2025-09-26 15:45:36,888 INFO    MainThread:514654 [wandb_setup.py:_flush():79] Loading settings from /home/chyang/workspace/LLM-BC/wandb/settings
-2025-09-26 15:45:36,888 INFO    MainThread:514654 [wandb_setup.py:_flush():79] Loading settings from environment variables: {}
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-2025-09-26 15:45:36,888 INFO    MainThread:514654 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'llmbc/workspace/train_diffusion_unet_lowdim_workspace.py', 'program_abspath': '/home/chyang/workspace/LLM-BC/llmbc/workspace/train_diffusion_unet_lowdim_workspace.py', 'program': '/home/chyang/workspace/LLM-BC/./llmbc/workspace/train_diffusion_unet_lowdim_workspace.py'}
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2025.09.26/15.45.30_train_diffusion_unet_lowdim_PegInsertionSide-v1/wandb/run-20250926_154536-ykhlnxbw/files/output.log

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-                                                                                                                                                                 

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