diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustToasterOvenTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6ac8f1f77f8864bccbfa3fef84635125aa9dc27c --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustToasterOvenTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.22 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustWaterTemperature/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustWaterTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustWaterTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.54 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseBlenderLid/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseBlenderLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a7c1f56e5c13c3b25ed58357608e90043f6e4ed2 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseBlenderLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.06 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseFridge/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseFridge/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..458fb974d3e8cd371d62316c196977f68e872f47 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseFridge/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.86 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CoffeeSetupMug/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CoffeeSetupMug/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CoffeeSetupMug/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.44 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCabinetToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCabinetToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCabinetToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.48 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceDrawerToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceDrawerToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.3 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceSinkToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceSinkToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c8f026404dacf114f6c6b8733a13c2e7737156 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceSinkToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.66 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceToasterToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceToasterToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..24f829579ddba28bc97042b1604cfb849fe84ec6 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceToasterToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.84 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOffSinkFaucet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOffSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..052dc0bdd096d10e1998da20fb1d51d7b4d02be7 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOffSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.9 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnStove/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.4 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnSinkSpout/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnSinkSpout/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..24f829579ddba28bc97042b1604cfb849fe84ec6 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnSinkSpout/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.84 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3dabd8427bad0837f4bb43d24847322aceccb3b8 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml @@ -0,0 +1,29 @@ +experiment_name: mgd_sweep_from_trained_base +policy_type: groot_mgd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only +sweep: + mgd_token_mask_ratio: + - 0.3 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_mgd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 1.0 + mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio} + mgd_use_cosine_loss: true + mgd_use_mse_loss: false diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e9966c604fa9bac12173312a20a6e423765b6e4 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml @@ -0,0 +1,48 @@ +experiment_name: mgd_sweep_from_trained_base +policy_type: groot_mgd +base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000 +output_root: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only +sweep: + mgd_token_mask_ratio: + - 0.5 + - 0.3 + - 0.7 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase2_mgd_only + max_steps: 30000 + save_steps: 0 + trainable: + preset: processing_line_only + tune_llm: false + tune_visual: false + tune_projector: false + tune_diffusion_model: false + losses: + mgd_enabled: true + mgd_fm_loss_weight: 0.0 + mgd_loss_weight: 1.0 + mgd_sequence_hidden_dim: 512 + mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio} + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +- name: phase3_mgd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 1.0 + mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio} + mgd_use_cosine_loss: true + mgd_use_mse_loss: false diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..556898c04a4d8c704103ac7ad26b76d77065f8bd --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml @@ -0,0 +1,31 @@ +experiment_name: mgd_sweep_from_trained_base +policy_type: groot_mgd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only +sweep: + mgd_token_mask_ratio: + - 0.3 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_mgd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 1.0 + mgd_token_mask_ratio: 0.3 + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +resolved_sweep: + mgd_token_mask_ratio: 0.3 diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/selected_eval_config.yaml b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/selected_eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..556898c04a4d8c704103ac7ad26b76d77065f8bd --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/selected_eval_config.yaml @@ -0,0 +1,31 @@ +experiment_name: mgd_sweep_from_trained_base +policy_type: groot_mgd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only +sweep: + mgd_token_mask_ratio: + - 0.3 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_mgd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 1.0 + mgd_token_mask_ratio: 0.3 + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +resolved_sweep: + mgd_token_mask_ratio: 0.3 diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/summary.txt b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..f36ca4039f176979e82deb67d9e8bb053f9f43ea --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/summary.txt @@ -0,0 +1,58 @@ +Eval metadata +- total_eval_time: 2h 59m 58s (10797.87s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3 +- video_dir: /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 2803 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml + - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml + - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml + - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml + - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/selected_eval_config.yaml + +Stats for task group: MY_ATOMIC26 +CloseBlenderLid: 6 | None +CloseFridge: 86 | None +CloseToasterOvenDoor: 78 | None +CoffeeSetupMug: 44 | None +NavigateKitchen: 40 | None +OpenCabinet: 50 | None +OpenDrawer: 44 | None +OpenStandMixerHead: 88 | None +PickPlaceCounterToCabinet: 54 | None +PickPlaceCounterToStove: 46 | None +PickPlaceDrawerToCounter: 30 | None +PickPlaceSinkToCounter: 66 | None +PickPlaceToasterToCounter: 84 | None +PickPlaceCabinetToCounter: 48 | None +TurnOnElectricKettle: 86 | None +TurnOnMicrowave: 22 | None +TurnOffMicrowave: 26 | None +OpenElectricKettleLid: 56 | None +SlideDishwasherRack: 74 | None +TurnOnSinkFaucet: 72 | None +TurnSinkSpout: 84 | None +TurnOffSinkFaucet: 90 | None +AdjustWaterTemperature: 54 | None +TurnOffStove: 22 | None +TurnOnStove: 40 | None +AdjustToasterOvenTemperature: 22 | None +AVG: 54.3 | nan + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 26/26 +- expected episodes per task: 50 +CHECK PASSED diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/AdjustWaterTemperature/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/AdjustWaterTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e24b6825563d943916fe7f0a4b2b5e13735163a2 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/AdjustWaterTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.52 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CloseFridge/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CloseFridge/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CloseFridge/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.88 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CoffeeSetupMug/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CoffeeSetupMug/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..26d3ad0b4ea0fb7d90334d3a51ca57c2774baf49 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CoffeeSetupMug/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.42 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/PickPlaceCounterToStove/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/PickPlaceCounterToStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/PickPlaceCounterToStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.48 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/SlideDishwasherRack/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/SlideDishwasherRack/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3ea8bed945dbdad5e6f525ef763bbd94c1cbf5b2 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/SlideDishwasherRack/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.68 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffMicrowave/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.3 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffSinkFaucet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..778d66345f342159c888e6d27ab7f99e219400cc --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.88 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOnSinkFaucet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOnSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..43dd768f70bf45703bf7ec33055e724be80aa4a5 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOnSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.58 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustToasterOvenTemperature/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustToasterOvenTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c7e48bb8efd60987086352c2f0f84b367c694d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustToasterOvenTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.3 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustWaterTemperature/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustWaterTemperature/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..7b937dcf3b941291354b236d1ab76c824884f51e --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustWaterTemperature/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.46 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseBlenderLid/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseBlenderLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..624fe07e934ec6c8f6db7c7b5d3d7411d6c3a6f5 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseBlenderLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.08 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseToasterOvenDoor/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseToasterOvenDoor/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..91d5435a96431af378c3b1b83b390b7d28d28b16 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseToasterOvenDoor/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.74 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CoffeeSetupMug/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CoffeeSetupMug/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6733154c460e92b745bd5591c0a051f9dd4283 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CoffeeSetupMug/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.38 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/NavigateKitchen/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/NavigateKitchen/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9419389668947d4b6621953a4292a44357536e6d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/NavigateKitchen/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.48 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenCabinet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenCabinet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..26d3ad0b4ea0fb7d90334d3a51ca57c2774baf49 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenCabinet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.42 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenDrawer/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenDrawer/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b36f1666be77e24f46ff88148b1d4d2c38e310 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenDrawer/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.4 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenElectricKettleLid/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenElectricKettleLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a107a7df7a4de9e517b2ee0ae688146d7aa07ebf --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenElectricKettleLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.54 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenStandMixerHead/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenStandMixerHead/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..24f829579ddba28bc97042b1604cfb849fe84ec6 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenStandMixerHead/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.84 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToCabinet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToCabinet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e24b6825563d943916fe7f0a4b2b5e13735163a2 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToCabinet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.52 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToStove/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e24b6825563d943916fe7f0a4b2b5e13735163a2 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.52 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceDrawerToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceDrawerToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceDrawerToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.34 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceToasterToCounter/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceToasterToCounter/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..cba16cfe0e764b8a3fedec013140f5682bdbba42 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceToasterToCounter/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.82 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/SlideDishwasherRack/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/SlideDishwasherRack/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..934943d613a8ea24b53bc7d318535a8ba6098c48 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/SlideDishwasherRack/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.6 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffMicrowave/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.28 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffStove/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3faebd2280582a2d5f7425841def7f48f70a2e01 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.28 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnElectricKettle/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnElectricKettle/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1f4293564d21a5eaa3f6795117efdf4839ea54fa --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnElectricKettle/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.76 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnMicrowave/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnMicrowave/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6ac8f1f77f8864bccbfa3fef84635125aa9dc27c --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnMicrowave/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.22 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnSinkFaucet/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnSinkFaucet/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f632f7691ec6b39fcef33a9a334aaed460d770e5 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnSinkFaucet/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.56 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnStove/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnStove/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6877f42929b51c1df69e84d817b899fae6a205fb --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnStove/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.34 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnSinkSpout/stats.json b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnSinkSpout/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8ee630120b2b3f30ed534ec6e63abfd8bb236223 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnSinkSpout/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.92 +} \ No newline at end of file diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/mgd_mask_ratio_ablation.yaml b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/mgd_mask_ratio_ablation.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ddabc257193cb2687a28ef53f97ffcdc8b3bf2c0 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/mgd_mask_ratio_ablation.yaml @@ -0,0 +1,46 @@ +experiment_name: mgd_sweep_from_trained_base +policy_type: groot_mgd +base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000 +output_root: /home/seonho/outputs/robocasa_v2/mgd_sweep_from_trained_base +sweep: + mgd_token_mask_ratio: + - 0.7 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase2_mgd_only + max_steps: 30000 + save_steps: 0 + trainable: + preset: processing_line_only + tune_llm: false + tune_visual: false + tune_projector: false + tune_diffusion_model: false + losses: + mgd_enabled: true + mgd_fm_loss_weight: 0.0 + mgd_loss_weight: 1.0 + mgd_sequence_hidden_dim: 512 + mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio} + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +- name: phase3_mgd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 1.0 + mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio} + mgd_use_cosine_loss: true + mgd_use_mse_loss: false diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/resolved_config.yaml b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d728c41b04cfbba3efa528a49dd16314bff490d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/resolved_config.yaml @@ -0,0 +1,48 @@ +experiment_name: mgd_sweep_from_trained_base +policy_type: groot_mgd +base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000 +output_root: /home/seonho/outputs/robocasa_v2/mgd_sweep_from_trained_base +sweep: + mgd_token_mask_ratio: + - 0.7 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase2_mgd_only + max_steps: 30000 + save_steps: 0 + trainable: + preset: processing_line_only + tune_llm: false + tune_visual: false + tune_projector: false + tune_diffusion_model: false + losses: + mgd_enabled: true + mgd_fm_loss_weight: 0.0 + mgd_loss_weight: 1.0 + mgd_sequence_hidden_dim: 512 + mgd_token_mask_ratio: 0.7 + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +- name: phase3_mgd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 1.0 + mgd_token_mask_ratio: 0.7 + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +resolved_sweep: + mgd_token_mask_ratio: 0.7 diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/selected_eval_config.yaml b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/selected_eval_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d728c41b04cfbba3efa528a49dd16314bff490d --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/selected_eval_config.yaml @@ -0,0 +1,48 @@ +experiment_name: mgd_sweep_from_trained_base +policy_type: groot_mgd +base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000 +output_root: /home/seonho/outputs/robocasa_v2/mgd_sweep_from_trained_base +sweep: + mgd_token_mask_ratio: + - 0.7 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase2_mgd_only + max_steps: 30000 + save_steps: 0 + trainable: + preset: processing_line_only + tune_llm: false + tune_visual: false + tune_projector: false + tune_diffusion_model: false + losses: + mgd_enabled: true + mgd_fm_loss_weight: 0.0 + mgd_loss_weight: 1.0 + mgd_sequence_hidden_dim: 512 + mgd_token_mask_ratio: 0.7 + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +- name: phase3_mgd_fm + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 1.0 + mgd_token_mask_ratio: 0.7 + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +resolved_sweep: + mgd_token_mask_ratio: 0.7 diff --git a/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/summary.txt b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..d241350fe75099a26d55bbd355ae719f81903ed9 --- /dev/null +++ b/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/summary.txt @@ -0,0 +1,56 @@ +Eval metadata +- total_eval_time: 3h 40m 24s (13224.10s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7 +- video_dir: /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 6243 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/mgd_mask_ratio_ablation.yaml + - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/resolved_config.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/mgd_mask_ratio_ablation.yaml + - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/selected_eval_config.yaml + +Stats for task group: MY_ATOMIC26 +CloseBlenderLid: 8 | None +CloseFridge: 76 | None +CloseToasterOvenDoor: 74 | None +CoffeeSetupMug: 38 | None +NavigateKitchen: 48 | None +OpenCabinet: 42 | None +OpenDrawer: 40 | None +OpenStandMixerHead: 84 | None +PickPlaceCounterToCabinet: 52 | None +PickPlaceCounterToStove: 52 | None +PickPlaceDrawerToCounter: 34 | None +PickPlaceSinkToCounter: 70 | None +PickPlaceToasterToCounter: 82 | None +PickPlaceCabinetToCounter: 44 | None +TurnOnElectricKettle: 76 | None +TurnOnMicrowave: 22 | None +TurnOffMicrowave: 28 | None +OpenElectricKettleLid: 54 | None +SlideDishwasherRack: 60 | None +TurnOnSinkFaucet: 56 | None +TurnSinkSpout: 92 | None +TurnOffSinkFaucet: 86 | None +AdjustWaterTemperature: 46 | None +TurnOffStove: 28 | None +TurnOnStove: 34 | None +AdjustToasterOvenTemperature: 30 | None +AVG: 52.2 | nan + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 26/26 +- expected episodes per task: 50 +CHECK PASSED diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a548bddc4a0e3f501bf37b3180a26089023665d0 --- /dev/null +++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseBlenderLid/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.12 +} \ No newline at end of file diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3ea8bed945dbdad5e6f525ef763bbd94c1cbf5b2 --- /dev/null +++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.68 +} \ No newline at end of file diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..49c543724c3fa7b3d727119e5eb1770b6a0bf3ec --- /dev/null +++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/NavigateKitchen/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.44 +} \ No newline at end of file diff --git a/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4b53abff8b682d1bd470bd415c4c8f3d9d8585d0 --- /dev/null +++ b/retrain_best/retrain_best/rkd_seed45/rkd_temp_0.1/phase3/evals/pretrain/OpenDrawer/stats.json @@ -0,0 +1,4 @@ +{ + "num_episodes": 50, + "success_rate": 0.5 +} \ No newline at end of file