diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..f1cdcedd5a606533aaaa54a2d55d0185c7f35801 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,14 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +results/eval_check_epoch122.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/all_goal_images.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_0_between_the_plate_and_the_ramekin.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_1_from_table_center.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_2_in_the_top_drawer_of_the_wooden_cabinet.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_3_next_to_the_cookie_box.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_4_next_to_the_plate.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_5_next_to_the_ramekin.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_7_on_the_ramekin.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_8_on_the_stove.png filter=lfs diff=lfs merge=lfs -text +results/goal_images/goal_9_on_the_wooden_cabinet.png filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e601eb96f952b29163ac9bd14844e54c1f713040 --- /dev/null +++ b/README.md @@ -0,0 +1,84 @@ +--- +license: mit +tags: + - robotics + - libero + - diffusion-policy + - patch-policy + - dinov2 +datasets: + - ParsaSharifi/patch-policy-libero-spatial +--- + +# Patch Policy diffusion on LIBERO Spatial + +A [Patch Policy](https://patch-policy.github.io/) diffusion head trained on **LIBERO Spatial**: frozen DINOv2 ViT-S/14 +patch tokens from both cameras (512 tokens), conditioned on a per-task goal image, predicting 7-d end-effector +actions. Checkpoint of epoch 122, the best of a 200-epoch run after a 500-episode re-evaluation. + +## Result + +| checkpoint | success | episodes | +|---|---|---| +| epoch 122 (this checkpoint) | **0.944** | 500 (50 per task) | +| epoch 122 | 0.99 | 100 (10 per task) | + +Per task, epoch 122, 500 episodes: + +| task: pick up the black bowl ... | success | +|---|---| +| between the plate and the ramekin | 0.88 | +| from table center | 1.00 | +| in the top drawer of the wooden cabinet | 0.98 | +| next to the cookie box | 1.00 | +| next to the plate | 0.80 | +| next to the ramekin | 0.98 | +| on the cookie box | 0.96 | +| on the ramekin | 0.96 | +| on the stove | 0.98 | +| on the wooden cabinet | 0.90 | + +- Evaluation protocol of the patch-policy code, not the LIBERO standard: a fresh seeded reset per episode + (seed 42 + k, objects jittered within the task's regions), 300-step limit. The LIBERO standard uses 50 fixed initial + states per task and 220 steps, so this number is not directly comparable to published LIBERO Spatial results. +- All sweep and confirmation results are in `results/` (`summary.json`, `eval/model_.json`, + `eval/confirm/`). The 10 goal images are in `results/goal_images/`. + +## Training + +| setting | value | +|---|---| +| code | patch_policy_cleanup, branch `feat/libero-spatial` (commit `7fda225`), config `libero_spatial/diffusion` | +| data | [ParsaSharifi/patch-policy-libero-spatial](https://huggingface.co/datasets/ParsaSharifi/patch-policy-libero-spatial): the 500 official LIBERO Spatial demos re-rendered at 224x224 | +| observation / action windows | 2 / 3 (prediction horizon 4) | +| batch, epochs, optimiser | 255 (85 x 3 GPUs), 200, AdamW lr 5e-5, weight decay 2e-4 | +| denoiser | transformer 8 layers x 4 heads x 256; DDPM 100 steps, EMA weights used for evaluation | +| precision | bf16 autocast, torch.compile, TF32 (DINOv2 runs in fp32) | +| goal | last frame of each task's first-listed demo (`demo_36`), both cameras, concatenated per token | +| hardware, time | 3 x RTX 3090, 4 h | + +## Files + +``` +outputs/libero_spatial/diffusion/dino_patch-2026-09-21_212317/checkpoints/model_0122.pt # epoch, config, policy_state_dict +results/ # evaluation results, goal images, frame strips +``` + +The checkpoint is a PyTorch pickle (`torch.load(..., weights_only=False)`): load it only if you trust this repo. +DINOv2 is not included; the code loads it from `torch.hub` (`facebookresearch/dinov2`). + +## Evaluate + +From a checkout of the code on branch `feat/libero-spatial`, with the dataset downloaded: + +```bash +hf download ParsaSharifi/patch-policy-libero-spatial-diffusion --local-dir ~/pp_libero_spatial +MUJOCO_GL=egl uv run python evaluate.py \ + ~/pp_libero_spatial/outputs/libero_spatial/diffusion/dino_patch-2026-09-21_212317 --epochs 122 --no-wandb +``` + +- The config stored in the checkpoint names the dataset directory it was trained with + (`dataset.data_directory: /media/sda1/parsa/original_patch_policy/patch_policy_datasets/libero_dataset`). The evaluation + loads the goal images from there, so the dataset must be at that path (or a symlink to it). +- The goal image of each task is the last frame of the first demo its folder lists. On the training machine that is + `demo_36` for every task; directory listing order depends on the filesystem, so check it on a new machine. diff --git a/outputs/libero_spatial/diffusion/dino_patch-2026-09-21_212317/checkpoints/model_0122.pt b/outputs/libero_spatial/diffusion/dino_patch-2026-09-21_212317/checkpoints/model_0122.pt new file mode 100644 index 0000000000000000000000000000000000000000..76c237e9e02a6b20f2cb51a677e20e68819dc3d2 --- /dev/null +++ b/outputs/libero_spatial/diffusion/dino_patch-2026-09-21_212317/checkpoints/model_0122.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18c6476bc273f5d7f077d46cb30a1fa80032126511aa2c4032b056a426e9d5ff +size 75506777 diff --git a/results/eval/confirm/model_0120.json b/results/eval/confirm/model_0120.json new file mode 100644 index 0000000000000000000000000000000000000000..0849a678a88c1eae54b295b7bc3fbeca42798916 --- /dev/null +++ b/results/eval/confirm/model_0120.json @@ -0,0 +1,511 @@ +{ + "epoch": 120, + 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