Upload four-dataset PCA30 LDP20

pick_tube_02_04_05_06/pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/ldp/.hydra/config.yaml

@@ -0,0 +1,261 @@
+task:
+  name: pick_tube_image_tactile_emb_ldp_30fps
+  dataset_path: /home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/pick_tube_02_04_05_06_pca30_armwise_rdp_zarr
+  image_shape:
+  - 3
+  - 224
+  - 224
+  tactile_embedding_dim: 30
+  shape_meta:
+    obs:
+      camera1:
+        shape: ${task.image_shape}
+        type: rgb
+      camera2:
+        shape: ${task.image_shape}
+        type: rgb
+      observation_state:
+        shape:
+        - 20
+        type: low_dim
+      tactile_embedding:
+        shape:
+        - ${task.tactile_embedding_dim}
+        type: low_dim
+    extended_obs:
+      tactile_embedding:
+        shape:
+        - ${task.tactile_embedding_dim}
+        type: low_dim
+    action:
+      shape:
+      - 20
+  dataset:
+    _target_: reactive_diffusion_policy.dataset.real_image_tactile_latent_diffusion_dataset.RealImageTactileLatentDiffusionDataset
+    shape_meta:
+      obs:
+        camera1:
+          shape: ${task.image_shape}
+          type: rgb
+        camera2:
+          shape: ${task.image_shape}
+          type: rgb
+        observation_state:
+          shape:
+          - 20
+          type: low_dim
+        tactile_embedding:
+          shape:
+          - ${task.tactile_embedding_dim}
+          type: low_dim
+      extended_obs:
+        tactile_embedding:
+          shape:
+          - ${task.tactile_embedding_dim}
+          type: low_dim
+      action:
+        shape:
+        - 20
+    dataset_path: ${task.dataset_path}
+    horizon: ${horizon}
+    pad_before: ${eval:'${dataset_obs_steps}-1+${n_latency_steps}'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    n_obs_steps: ${dataset_obs_steps}
+    obs_temporal_downsample_ratio: ${dataset_obs_temporal_downsample_ratio}
+    n_latency_steps: ${n_latency_steps}
+    seed: 42
+    val_ratio: 0.0
+    max_train_episodes: null
+    use_episode_repeats: false
+    delta_action: false
+    relative_action: false
+    transform_params: null
+    load_to_memory: false
+    bimanual_contiguous_action: true
+    use_latent_action_before_vq: false
+    at:
+      _target_: reactive_diffusion_policy.model.vae.model.VAE
+      shape_meta: ${shape_meta}
+      horizon: ${at.policy.horizon}
+      n_latent_dims: ${at.policy.n_latent_dims}
+      mlp_layer_num: ${at.policy.mlp_layer_num}
+      use_conv_encoder: ${at.policy.use_conv_encoder}
+      conv_latent_dims: ${at.policy.conv_latent_dims}
+      conv_layer_num: ${at.policy.conv_layer_num}
+      use_rnn_decoder: ${at.policy.use_rnn_decoder}
+      rnn_latent_dims: ${at.policy.rnn_latent_dims}
+      rnn_layer_num: ${at.policy.rnn_layer_num}
+      use_vq: ${at.policy.use_vq}
+      n_embed: ${at.policy.n_embed}
+      vqvae_groups: ${at.policy.vqvae_groups}
+      eval: true
+      load_dir: ${at_load_dir}
+      act_scale: ${at.policy.act_scale}
+at:
+  horizon: 32
+  n_obs_steps: 2
+  dataset_obs_temporal_downsample_ratio: 2
+  policy:
+    horizon: ${horizon}
+    n_latent_dims: 16
+    mlp_layer_num: 1
+    use_conv_encoder: true
+    conv_latent_dims: 32
+    conv_layer_num: 1
+    use_rnn_decoder: true
+    rnn_latent_dims: 64
+    rnn_layer_num: 1
+    kl_multiplier: 1.0e-06
+    n_embed: 32
+    use_vq: false
+    vqvae_groups: 4
+    eval: false
+    act_scale: 1
+name: train_latent_diffusion_unet_image
+_target_: reactive_diffusion_policy.workspace.train_diffusion_unet_image_workspace.TrainDiffusionUnetImageWorkspace
+task_name: ${task.name}
+shape_meta: ${task.shape_meta}
+exp_name: default
+horizon: ${at.horizon}
+n_obs_steps: ${at.n_obs_steps}
+n_latency_steps: 0
+obs_temporal_downsample_ratio: 2
+dataset_obs_steps: ${eval:'${at.n_obs_steps}*${at.dataset_obs_temporal_downsample_ratio}'}
+dataset_obs_temporal_downsample_ratio: ${at.dataset_obs_temporal_downsample_ratio}
+n_action_steps: ${eval:'${horizon}-${dataset_obs_steps}+1'}
+past_action_visible: false
+keypoint_visible_rate: 1.0
+at_load_dir: /home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/outputs/pick_tube_02_04_05_06/at_pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/checkpoints/latest.ckpt
+use_latent_action_before_vq: false
+obs_as_global_cond: true
+policy:
+  _target_: reactive_diffusion_policy.policy.latent_diffusion_unet_image_policy.LatentDiffusionUnetImagePolicy
+  shape_meta: ${shape_meta}
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddim.DDIMScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    clip_sample: true
+    set_alpha_to_one: true
+    steps_offset: 0
+    prediction_type: epsilon
+  obs_encoder:
+    _target_: reactive_diffusion_policy.model.vision.multi_image_obs_encoder.MultiImageObsEncoder
+    shape_meta: ${shape_meta}
+    rgb_model:
+      _target_: reactive_diffusion_policy.model.vision.model_getter.get_resnet
+      name: resnet18
+      weights: null
+    resize_shape:
+    - 224
+    - 224
+    random_transforms:
+    - type: RandomCrop
+      ratio: 0.9
+    use_group_norm: true
+    share_rgb_model: false
+    imagenet_norm: true
+  use_latent_action_before_vq: ${use_latent_action_before_vq}
+  at:
+    _target_: reactive_diffusion_policy.model.vae.model.VAE
+    shape_meta: ${shape_meta}
+    horizon: ${at.policy.horizon}
+    n_latent_dims: ${at.policy.n_latent_dims}
+    mlp_layer_num: ${at.policy.mlp_layer_num}
+    use_conv_encoder: ${at.policy.use_conv_encoder}
+    conv_latent_dims: ${at.policy.conv_latent_dims}
+    conv_layer_num: ${at.policy.conv_layer_num}
+    use_rnn_decoder: ${at.policy.use_rnn_decoder}
+    rnn_latent_dims: ${at.policy.rnn_latent_dims}
+    rnn_layer_num: ${at.policy.rnn_layer_num}
+    use_vq: ${at.policy.use_vq}
+    n_embed: ${at.policy.n_embed}
+    vqvae_groups: ${at.policy.vqvae_groups}
+    eval: true
+    load_dir: ${at_load_dir}
+    act_scale: ${at.policy.act_scale}
+  horizon: ${horizon}
+  n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'}
+  n_obs_steps: ${n_obs_steps}
+  num_inference_steps: 100
+  obs_as_global_cond: ${obs_as_global_cond}
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 512
+  - 1024
+  - 2048
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+ema:
+  _target_: reactive_diffusion_policy.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: 64
+  num_workers: 8
+  shuffle: true
+  pin_memory: true
+  persistent_workers: true
+val_dataloader:
+  batch_size: 64
+  num_workers: 8
+  shuffle: false
+  pin_memory: true
+  persistent_workers: true
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+  encoder_weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 42
+  debug: false
+  resume: false
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 20
+  gradient_accumulate_every: 1
+  use_ema: true
+  freeze_encoder: false
+  rollout_every: 50
+  checkpoint_every: 1
+  val_every: 1
+  sample_every: 10
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+  layer_decay: 1.0
+  encoder_lr_coefficient: 0.1
+logging:
+  project: latent_diffusion_policy_tactile
+  resume: true
+  mode: online
+  name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: train_loss
+    mode: min
+    k: 1
+    format_str: epoch={epoch:04d}-train_loss={train_loss:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}

pick_tube_02_04_05_06/pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/ldp/.hydra/hydra.yaml

@@ -0,0 +1,168 @@
+hydra:
+  run:
+    dir: /home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/outputs/pick_tube_02_04_05_06/ldp_pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1
+  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.run.dir=/home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/outputs/pick_tube_02_04_05_06/ldp_pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1
+    - hydra.mode=RUN
+    task:
+    - task.dataset_path=/home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/pick_tube_02_04_05_06_pca30_armwise_rdp_zarr
+    - task.tactile_embedding_dim=30
+    - at_load_dir='/home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/outputs/pick_tube_02_04_05_06/at_pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/checkpoints/latest.ckpt'
+    - logging.mode=online
+    - training.resume=false
+    - training.num_epochs=20
+    - training.checkpoint_every=1
+    - dataloader.batch_size=64
+    - val_dataloader.batch_size=64
+    - dataloader.num_workers=8
+    - val_dataloader.num_workers=8
+  job:
+    name: train
+    chdir: null
+    override_dirname: at_load_dir='/home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/outputs/pick_tube_02_04_05_06/at_pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/checkpoints/latest.ckpt',dataloader.batch_size=64,dataloader.num_workers=8,logging.mode=online,task.dataset_path=/home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/pick_tube_02_04_05_06_pca30_armwise_rdp_zarr,task.tactile_embedding_dim=30,training.checkpoint_every=1,training.num_epochs=20,training.resume=false,val_dataloader.batch_size=64,val_dataloader.num_workers=8
+    id: ???
+    num: ???
+    config_name: train_pick_tube_ldp_workspace
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.5
+    version_base: '1.3'
+    cwd: /home/hillbot/FRS_Tact/reactive_diffusion_policy-main
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/hillbot/FRS_Tact/reactive_diffusion_policy-main/reactive_diffusion_policy/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/outputs/pick_tube_02_04_05_06/ldp_pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1
+    choices:
+      at: at_pick_tube
+      task: pick_tube_image_tactile_emb_ldp_30fps
+      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

pick_tube_02_04_05_06/pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/ldp/.hydra/overrides.yaml

@@ -0,0 +1,11 @@
+- task.dataset_path=/home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/pick_tube_02_04_05_06_pca30_armwise_rdp_zarr
+- task.tactile_embedding_dim=30
+- at_load_dir='/home/hillbot/FRS_Tact/reactive_diffusion_policy-main/data/outputs/pick_tube_02_04_05_06/at_pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/checkpoints/latest.ckpt'
+- logging.mode=online
+- training.resume=false
+- training.num_epochs=20
+- training.checkpoint_every=1
+- dataloader.batch_size=64
+- val_dataloader.batch_size=64
+- dataloader.num_workers=8
+- val_dataloader.num_workers=8

pick_tube_02_04_05_06/pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/ldp/checkpoints/latest.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4750b6023b70bfd6271824bdababf63d0336b109b4c12848d564a0d0e4af46a
+size 3857142477

pick_tube_02_04_05_06/pca30_armwise_02_04_05_06_at20_ldp20_rdp_dim_ablation_v1/ldp/normalizer.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4e2481080a7b44e68d410738dbe5da0e687b6352cea915ddd31c8b744e74be5
+size 15514