serialexperimentsleon/2170_0
01
1root_dir: /mnt/kostas-graid/datasets/extrinsic_contact_data2replay_buffer_size: 1500003replay_buffer_num_workers: 24nstep: 35batch_size: 1286seed: 07dataset_shuffle_seed: 28device: cuda9save_video: true10save_train_video: true11use_tb: true12use_wandb: true13wandb_run_id: '2170_0'14wandb_notes: 2170_0_restarted_1015eval: false16true_action_history: false17train_pad_after: 418process_contact_features: ${eval}19obs_type: pixels20use_color: true21use_depth: true22use_masks: true23mask_list:24- EE_obj_mask25mask_representation: channels26crop_hw:27- 14428- 14429crop_down_offset: 4830color_crop_type: null31depth_crop_type: null32segmask_crop_type: null33add_crop_binary_mask: false34add_coord_conv_map: false35use_context_color: false36use_context_depth: false37use_context_segmask: false38context_color_crop_type: null39context_depth_crop_type: null40context_segmask_crop_type: null41context_add_crop_binary_mask: false42context_add_coord_conv_map: false43use_contact_map: true44use_sdf_maps: true45use_normals_maps: true46which_objects: both47max_contact_prob: 0.148max_depth: 2.049grasped_dtc_max_value: 0.250env_dtc_max_value: 0.451grasped_normals_mask_max_dtc_value: 0.252env_normals_mask_max_dtc_value: 0.453clamp_dtc: true54dtc_adaptive_normalization: false55mask_normals_within_sdf: true56adaptive_normals_mask: true57learnable_contact_preprocess_params: true58contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_959contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt60encoder_type: small61debug_timestamps: false62open_loop: false63action_trajectories: true64stop_after_action: false65interpolation_frequency: 2566policy_frequency: 567wait_for_new_camera_frames: true68baseline: false69train_demo_idxs_list_or_num: -170log_train_every_steps: 2571name_of_expert_demo: 120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act72expert_dataset_dirpath: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_expert_demo}73store_dataset_in_memory: false74expert_dataset: ${expert_dataset_dirpath}/demos.zarr75action_key: ${oc.if_else:${action_trajectories}, 'action_trajectory_${interpolation_frequency}hz',76 'action'}77semantic_demo_grouping_name: semantic_demo_grouping.yaml78semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}79include_groups_list: all80expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml81name_of_valid_demo: 120_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act82valid_dataset_dir: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_valid_demo}/demos.zarr83valid_demo_idxs_list_or_num: null84val_num_groups: 385load_bc: ${agent.load_checkpoint}86checkpoint_epoch_list:87- 9988- 19989- 29990- 39991- 49992- 59993- 69994- 79995- 89996- 99997- 124998- 149999- 1749100- 1999101- 2999102- 3999103- 4999104- 5999105- 6999106- 7999107- 8999108- 9999109snapshot_root_dir: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH110save_snapshot: true111save_last_snapshot: true112save_snapshot_when_done: true113top_k_checkpoints: 5114save_snapshot_link_to_weights_dir: deprecated115bc_regularize: false116bc_weight_type: qfilter117experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}118agent:119 _target_: agent.diffusion_policy.DiffusionPolicyAgent120 name: diffusion_policy121 load_checkpoint: ${eval}122 device: ${device}123 n_obs_steps: ${.config.policy_cfg.n_obs_steps}124 suite_name: ${suite.name}125 obs_type: ${obs_type}126 enable_arm: ${eval}127 enable_camera: ${eval}128 use_tb: ${use_tb}129 desired_image_shape:130 - 13131 - 180132 - 240133 orig_cam_shape:134 - 3135 - 240136 - 320137 config:138 _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig139 compile: false140 device: ${device}141 cam_resize_shape: ${agent.desired_image_shape}142 orig_cam_shape: ${agent.orig_cam_shape}143 policy_frequency: ${policy_frequency}144 interpolation_frequency: ${interpolation_frequency}145 policy_cfg:146 _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig147 n_obs_steps: 1148 horizon: 36149 n_action_steps: ${agent.config.policy_cfg.horizon}150 output_shapes:151 action:152 - 7153 input_normalization_modes:154 observation.image: mean_std155 observation.state: min_max156 observation.action_history: min_max157 output_normalization_modes:158 action: min_max159 vision_backbone: resnet18160 pretrained_backbone_weights: null161 transforms:162 - _target_: torchaug.transforms.RandomAffine163 degrees:164 - -5165 - 5166 translate:167 - 0.05168 - 0.05169 batch_transform: true170 num_chunks: -1171 batch_inplace: true172 - _target_: torchaug.transforms.RandomColorJitter173 brightness: 0.3174 contrast: 0.4175 saturation: 0.5176 hue: 0.08177 batch_transform: true178 num_chunks: -1179 batch_inplace: true180 use_group_norm: true181 spatial_softmax_num_keypoints: 32182 action_history_encoder_config:183 _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig184 in_channels: 7185 out_channels: 32186 history_length: 6187 kernel_size: ${agent.config.policy_cfg.kernel_size}188 downsample_kernel_size: 3189 downsample_stride: 2190 downsample_padding: 1191 down_dims:192 - 256193 - 512194 - 1024195 kernel_size: 5196 n_groups: 8197 diffusion_step_embed_dim: 128198 use_film_scale_modulation: true199 noise_scheduler_type: DDIM200 beta_schedule: squaredcos_cap_v2201 beta_start: 0.0001202 beta_end: 0.02203 prediction_type: epsilon204 clip_sample: true205 clip_sample_range: 1.0206 num_train_timesteps: 50207 num_inference_steps: 10208 do_mask_loss_for_padding: false209 input_shapes:210 observation.image:211 - 13212 - 180213 - 240214 context_observation.image:215 - 13216 - 180217 - 240218 observation.state:219 - 8220 observation.action_history:221 - 7222 train_cfg:223 _target_: utils.TrainConfig224 lr: 0.0001225 lr_scheduler: cosine226 lr_warmup_steps: 500227 adam_betas:228 - 0.95229 - 0.999230 adam_eps: 1.0e-08231 adam_weight_decay: 1.0e-06232 grad_clip_norm: 10233 offline_steps: ${num_train_frames_diffusion}234 use_amp: true235 observation_cfg:236 _target_: agent.encoder.VisualFeatureSet237 use_depth: ${use_depth}238 use_color: ${use_color}239 mask_input_dict:240 _target_: agent.encoder.MaskInputDict241 enable: ${use_masks}242 representation: ${mask_representation}243 mask_list: ${mask_list}244 crop_input_config:245 _target_: agent.encoder.CropInputConfig246 color_crop_type: ${color_crop_type}247 depth_crop_type: ${depth_crop_type}248 segmask_crop_type: ${segmask_crop_type}249 crop_hw: ${crop_hw}250 crop_down_offset: ${crop_down_offset}251 add_crop_binary_mask: ${add_crop_binary_mask}252 add_coord_conv_map: ${add_coord_conv_map}253 context_input_config:254 _target_: agent.encoder.ContextInputConfig255 use_color: ${use_context_color}256 use_depth: ${use_context_depth}257 mask_input_dict:258 _target_: agent.encoder.MaskInputDict259 enable: ${use_context_segmask}260 representation: ${mask_representation}261 mask_list: ${mask_list}262 crop_input_config:263 _target_: agent.encoder.CropInputConfig264 color_crop_type: ${context_color_crop_type}265 depth_crop_type: ${context_depth_crop_type}266 segmask_crop_type: ${context_segmask_crop_type}267 crop_hw: ${crop_hw}268 crop_down_offset: ${crop_down_offset}269 add_crop_binary_mask: ${context_add_crop_binary_mask}270 add_coord_conv_map: ${context_add_coord_conv_map}271 mask_soft_approx_scheduler_config:272 _target_: agent.encoder.MaskSoftApproxSchedulerConfig273 num_steps: 40000274 initial_value: 10.0275 final_value: 1000.0276 interpolation_scheme: cosine277 use_contact_map: ${use_contact_map}278 use_sdf_maps: ${use_sdf_maps}279 use_normals_maps: ${use_normals_maps}280 which_objects: ${which_objects}281 grasped_dtc_max_value: ${grasped_dtc_max_value}282 env_dtc_max_value: ${env_dtc_max_value}283 grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}284 env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}285 clamp_dtc: ${clamp_dtc}286 max_contact_prob: ${max_contact_prob}287 mask_normals_within_sdf: ${mask_normals_within_sdf}288 dtc_adaptive_normalization: ${dtc_adaptive_normalization}289 adaptive_normals_mask: ${adaptive_normals_mask}290 max_depth: ${max_depth}291 image_shape: ${agent.desired_image_shape}292 learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}293 learning_rate: 0.0001294 weight_decay: 0.0295 contact_model_name: ${contact_model_name}296 zero_centered: false297suite:298 suite: frankagym299 name: frankagym300 frame_stack: ${agent.n_obs_steps}301 action_repeat: 1302 discount: 0.99303 hidden_dim: 1024304 num_train_frames: 1000000305 num_seed_frames: 0306 num_train_epochs: 15000307 validate_every_epochs: 250308 validate_diffusion_on_action_loss_every_epochs: 250309 train_eval_diffusion_on_action_loss_every_epochs: 250310 check_topk_every_epochs: 250311 save_snapshot_every_epochs: 1500312 eval_every_frames: 2000313 num_eval_episodes: 5314 save_snapshot: true315 wait_for_user_to_start_episode: true316 task_make_fn:317 _target_: suite.frankagym.make318 name: ${task_name}319 height: 240320 width: 320321 frame_stack: ${suite.frame_stack}322 action_repeat: ${suite.action_repeat}323 seed: ${seed}324 enable_arm: ${agent.enable_arm}325 enable_gripper: ${enable_gripper}326 start_with_gripper_open: ${start_with_gripper_open}327 enable_camera: ${agent.enable_camera}328 path_to_depth_extrinsics: ${path_to_depth_extrinsics}329 contact_estimation_model_ckpt_path: ${contact_estimation_model_ckpt_path}330 x_limit: ${x_limit}331 y_limit: ${y_limit}332 z_limit: ${z_limit}333 device: ${device}334 interpolation_frequency: ${interpolation_frequency}335 policy_frequency: ${policy_frequency}336 debug_timestamps: ${debug_timestamps}337 stop_after_action: ${stop_after_action}338 open_loop: ${open_loop}339 wait_for_new_camera_frames: ${wait_for_new_camera_frames}340 action_key: ${action_key}341 action_trajectory_horizon: ${agent.config.policy_cfg.horizon}342 action_trajectories: ${action_trajectories}343 path_to_zarr_dataset: ${expert_dataset}344 agent_policy_cfg:345 _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig346 compile: false347 device: ${device}348 cam_resize_shape: ${agent.desired_image_shape}349 orig_cam_shape: ${agent.orig_cam_shape}350 policy_frequency: ${policy_frequency}351 interpolation_frequency: ${interpolation_frequency}352 policy_cfg:353 _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig354 n_obs_steps: 1355 horizon: 36356 n_action_steps: ${agent.config.policy_cfg.horizon}357 output_shapes:358 action:359 - 7360 input_normalization_modes:361 observation.image: mean_std362 observation.state: min_max363 observation.action_history: min_max364 output_normalization_modes:365 action: min_max366 vision_backbone: resnet18367 pretrained_backbone_weights: null368 transforms:369 - _target_: torchaug.transforms.RandomAffine370 degrees:371 - -5372 - 5373 translate:374 - 0.05375 - 0.05376 batch_transform: true377 num_chunks: -1378 batch_inplace: true379 - _target_: torchaug.transforms.RandomColorJitter380 brightness: 0.3381 contrast: 0.4382 saturation: 0.5383 hue: 0.08384 batch_transform: true385 num_chunks: -1386 batch_inplace: true387 use_group_norm: true388 spatial_softmax_num_keypoints: 32389 action_history_encoder_config:390 _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig391 in_channels: 7392 out_channels: 32393 history_length: 6394 kernel_size: ${agent.config.policy_cfg.kernel_size}395 downsample_kernel_size: 3396 downsample_stride: 2397 downsample_padding: 1398 down_dims:399 - 256400 - 512401 - 1024402 kernel_size: 5403 n_groups: 8404 diffusion_step_embed_dim: 128405 use_film_scale_modulation: true406 noise_scheduler_type: DDIM407 beta_schedule: squaredcos_cap_v2408 beta_start: 0.0001409 beta_end: 0.02410 prediction_type: epsilon411 clip_sample: true412 clip_sample_range: 1.0413 num_train_timesteps: 50414 num_inference_steps: 10415 do_mask_loss_for_padding: false416 input_shapes:417 observation.image:418 - 13419 - 180420 - 240421 context_observation.image:422 - 13423 - 180424 - 240425 observation.state:426 - 8427 observation.action_history:428 - 7429 train_cfg:430 _target_: utils.TrainConfig431 lr: 0.0001432 lr_scheduler: cosine433 lr_warmup_steps: 500434 adam_betas:435 - 0.95436 - 0.999437 adam_eps: 1.0e-08438 adam_weight_decay: 1.0e-06439 grad_clip_norm: 10440 offline_steps: ${num_train_frames_diffusion}441 use_amp: true442 observation_cfg:443 _target_: agent.encoder.VisualFeatureSet444 use_depth: ${use_depth}445 use_color: ${use_color}446 mask_input_dict:447 _target_: agent.encoder.MaskInputDict448 enable: ${use_masks}449 representation: ${mask_representation}450 mask_list: ${mask_list}451 crop_input_config:452 _target_: agent.encoder.CropInputConfig453 color_crop_type: ${color_crop_type}454 depth_crop_type: ${depth_crop_type}455 segmask_crop_type: ${segmask_crop_type}456 crop_hw: ${crop_hw}457 crop_down_offset: ${crop_down_offset}458 add_crop_binary_mask: ${add_crop_binary_mask}459 add_coord_conv_map: ${add_coord_conv_map}460 context_input_config:461 _target_: agent.encoder.ContextInputConfig462 use_color: ${use_context_color}463 use_depth: ${use_context_depth}464 mask_input_dict:465 _target_: agent.encoder.MaskInputDict466 enable: ${use_context_segmask}467 representation: ${mask_representation}468 mask_list: ${mask_list}469 crop_input_config:470 _target_: agent.encoder.CropInputConfig471 color_crop_type: ${context_color_crop_type}472 depth_crop_type: ${context_depth_crop_type}473 segmask_crop_type: ${context_segmask_crop_type}474 crop_hw: ${crop_hw}475 crop_down_offset: ${crop_down_offset}476 add_crop_binary_mask: ${context_add_crop_binary_mask}477 add_coord_conv_map: ${context_add_coord_conv_map}478 mask_soft_approx_scheduler_config:479 _target_: agent.encoder.MaskSoftApproxSchedulerConfig480 num_steps: 40000481 initial_value: 10.0482 final_value: 1000.0483 interpolation_scheme: cosine484 use_contact_map: ${use_contact_map}485 use_sdf_maps: ${use_sdf_maps}486 use_normals_maps: ${use_normals_maps}487 which_objects: ${which_objects}488 grasped_dtc_max_value: ${grasped_dtc_max_value}489 env_dtc_max_value: ${env_dtc_max_value}490 grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}491 env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}492 clamp_dtc: ${clamp_dtc}493 max_contact_prob: ${max_contact_prob}494 mask_normals_within_sdf: ${mask_normals_within_sdf}495 dtc_adaptive_normalization: ${dtc_adaptive_normalization}496 adaptive_normals_mask: ${adaptive_normals_mask}497 max_depth: ${max_depth}498 image_shape: ${agent.desired_image_shape}499 learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}500 learning_rate: 0.0001501 weight_decay: 0.0502 contact_model_name: ${contact_model_name}503 zero_centered: false504 true_action_history: ${true_action_history}505num_train_frames_bc: 50000506num_train_frames_drq: 1100000507stddev_schedule_drq: linear(1.0,0.1,100000)508task_name: FrankaInsertion-v1509num_train_frames_vinn: 25000510num_train_frames_diffusion: 1000000511num_train_epochs_bc: 5000512num_train_epochs_diffusion: 15000513validate_every_epochs_bc: 5514validate_every_epochs_diffusion: 250515validate_diffusion_on_action_loss_every_epochs: 250516train_eval_diffusion_on_action_loss_every_epochs: 250517check_topk_every_epochs: 5518check_topk_every_epochs_diffusion: 250519save_snapshot_every_epochs_diffusion: 1500520x_limit:521- 0.2522- 0.7523y_limit:524- -0.4525- 0.4526z_limit:527- -0.05528- 0.55529home_displacement:530- 0.55531- 0.0532- 0.55533- 180.0534- 0.0535- 0.0536enable_gripper: true537start_with_gripper_open: true538offset_mask:539- 1540- 1541- 1542- 1543- 1544- 1545path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy546test:547 username: leonmkim548 hostname: grasp-login1549 name_of_expert_demo: 112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act550 root_dir: ~/fish_leon551 expert_dataset_dirpath: ${test.root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${test.name_of_expert_demo}552 expert_dataset: ${test.expert_dataset_dirpath}/demos.zarr553 semantic_demo_grouping_name: semantic_demo_grouping.yaml554 semantic_demo_grouping: ${test.expert_dataset_dirpath}/${test.semantic_demo_grouping_name}555 include_groups_list: all556 batch_size: 128557 store_dataset_in_memory: false558 use_tb: true559 local_snapshot_root_dir: /mnt/bighdd/fish_contact_backup560 local_snapshot_dir: ${test.local_snapshot_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}561 resume_wandb_run: false562feature_type: 180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_cntct_0.1_DTC_clmpd_lrnbl_nrmls_DTCmask_adpt_lrnbl_both_lr_0.0001_wd_0.0_local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1563