diff --git a/README.md b/README.md index 0156895b755dbaa36d79c57c7c94339063fd336c..4363642d5eece5ae8e1f7675c4f3289b398c31f0 100644 --- a/README.md +++ b/README.md @@ -2,6 +2,11 @@ license: apache-2.0 datasets: - lerobot/pusht +tags: +- diffusion-policy +- model_hub_mixin +- pytorch_model_hub_mixin +- robotics pipeline_tag: robotics --- # Model Card for Diffusion Policy / PushT @@ -15,31 +20,27 @@ See the [LeRobot library](https://github.com/huggingface/lerobot) (particularly ## Training Details -The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/d747195c5733c4f68d4bfbe62632d6fc1b605712/lerobot/scripts/train.py) and with the [pusht](https://huggingface.co/datasets/lerobot/pusht/tree/v1.3) dataset, using this command: +Trained with [LeRobot@3c0a209](https://github.com/huggingface/lerobot/tree/3c0a209f9fac4d2a57617e686a7f2a2309144ba2). + +The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/main/lerobot/scripts/train.py) and with the [pusht](https://huggingface.co/datasets/lerobot/pusht) dataset, using this command: ```bash python lerobot/scripts/train.py \ - hydra.run.dir=outputs/train/diffusion_pusht \ - hydra.job.name=diffusion_pusht \ - policy=diffusion training.save_model=true \ - env=pusht \ - env.task=PushT-v0 \ - dataset_repo_id=lerobot/pusht \ - training.offline_steps=200000 \ - training.save_freq=20000 \ - training.eval_freq=10000 \ - eval.n_episodes=50 \ - wandb.enable=true \ - wandb.disable_artifact=true \ - device=cuda + --output_dir=outputs/train/diffusion_pusht \ + --policy.type=diffusion \ + --dataset.repo_id=lerobot/pusht \ + --seed=100000 \ + --env.type=pusht \ + --batch_size=64 \ + --offline.steps=200000 \ + --eval_freq=25000 \ + --save_freq=25000 \ + --wandb.enable=true ``` -The training curves may be found at https://wandb.ai/alexander-soare/Alexander-LeRobot/runs/508luayd. - -This took about 7 hours to train on an Nvida RTX 3090. - -_Note: At the time of training, [this PR](https://github.com/huggingface/lerobot/pull/129) was also incorporated._ +The training curves may be found at https://wandb.ai/aliberts/lerobot/runs/s7elvf4r. +The current model corresponds to the checkpoint at 175k steps. ## Evaluation @@ -48,12 +49,22 @@ The model was evaluated on the `PushT` environment from [gym-pusht](https://gith - Maximum overlap with target (seen as `eval/avg_max_reward` in the charts above). This ranges in [0, 1]. - Success: whether or not the maximum overlap is at least 95%. -Here are the metrics for 500 episodes worth of evaluation. For the succes rate we add an extra row with confidence bounds. This assumes a uniform prior over success probability and computes the beta posterior, then calculates the mean and lower/upper confidence bounds (with a 68.2% confidence interval centered on the mean). The "Theirs" column is for an equivalent model trained on the original Diffusion Policy repository and evaluated on LeRobot (the model weights may be found in the [`original_dp_repo`](https://huggingface.co/lerobot/diffusion_pusht/tree/original_dp_repo) branch of this respository). +Here are the metrics for 500 episodes worth of evaluation. The "Theirs" column is for an equivalent model trained on the original Diffusion Policy repository and evaluated on LeRobot (the model weights may be found in the [`original_dp_repo`](https://huggingface.co/lerobot/diffusion_pusht/tree/original_dp_repo) branch of this respository). |Ours|Theirs -|-|- -Average max. overlap ratio | 0.959 | 0.957 -Success rate for 500 episodes (%) | 63.8 | 64.2 -Beta distribution lower/mean/upper (%) | 61.6 / 63.7 / 65.9 | 62.0 / 64.1 / 66.3 +Average max. overlap ratio | 0.955 | 0.957 +Success rate for 500 episodes (%) | 65.4 | 64.2 -The results of each of the individual rollouts may be found in [eval_info.json](eval_info.json). \ No newline at end of file +The results of each of the individual rollouts may be found in [eval_info.json](eval_info.json). +It was produced after training with this command: +```bash +python lerobot/scripts/eval.py \ + --policy.path=outputs/train/diffusion_pusht/checkpoints/175000/pretrained_model \ + --output_dir=outputs/eval/diffusion_pusht/175000 \ + --env.type=pusht \ + --eval.n_episodes=500 \ + --eval.batch_size=50 \ + --device=cuda \ + --use_amp=false +``` \ No newline at end of file diff --git a/config.json b/config.json index 0de4e96cd8dc51f4193ed6a43471734036498467..68b79f65c2ec74af5e1fb5b280e9384013333fb4 100644 --- a/config.json +++ b/config.json @@ -1,53 +1,74 @@ { - "n_obs_steps": 2, - "horizon": 16, - "n_action_steps": 8, - "input_shapes": { - "observation.image": [ - 3, - 96, - 96 - ], - "observation.state": [ - 2 - ] - }, - "output_shapes": { - "action": [ - 2 - ] - }, - "input_normalization_modes": { - "observation.image": "mean_std", - "observation.state": "min_max" - }, - "output_normalization_modes": { - "action": "min_max" - }, - "vision_backbone": "resnet18", + "beta_end": 0.02, + "beta_schedule": "squaredcos_cap_v2", + "beta_start": 0.0001, + "clip_sample": true, + "clip_sample_range": 1.0, + "crop_is_random": true, "crop_shape": [ 84, 84 ], - "crop_is_random": true, - "pretrained_backbone_weights": null, - "use_group_norm": true, - "spatial_softmax_num_keypoints": 32, + "diffusion_step_embed_dim": 128, + "do_mask_loss_for_padding": false, "down_dims": [ 512, 1024, 2048 ], + "drop_n_last_frames": 7, + "horizon": 16, + "input_features": { + "observation.image": { + "shape": [ + 3, + 96, + 96 + ], + "type": "VISUAL" + }, + "observation.state": { + "shape": [ + 2 + ], + "type": "STATE" + } + }, "kernel_size": 5, + "n_action_steps": 8, "n_groups": 8, - "diffusion_step_embed_dim": 128, - "use_film_scale_modulation": true, + "n_obs_steps": 2, + "noise_scheduler_type": "DDPM", + "normalization_mapping": { + "ACTION": "MIN_MAX", + "STATE": "MIN_MAX", + "VISUAL": "MEAN_STD" + }, + "num_inference_steps": null, "num_train_timesteps": 100, - "beta_schedule": "squaredcos_cap_v2", - "beta_start": 0.0001, - "beta_end": 0.02, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_lr": 0.0001, + "optimizer_weight_decay": 1e-06, + "output_features": { + "action": { + "shape": [ + 2 + ], + "type": "ACTION" + } + }, "prediction_type": "epsilon", - "clip_sample": true, - "clip_sample_range": 1.0, - "num_inference_steps": 100 + "pretrained_backbone_weights": null, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500, + "spatial_softmax_num_keypoints": 32, + "type": "diffusion", + "use_film_scale_modulation": true, + "use_group_norm": true, + "use_separate_rgb_encoder_per_camera": false, + "vision_backbone": "resnet18" } \ No newline at end of file diff --git a/config.yaml b/config.yaml deleted file mode 100644 index 4b581bd1edda392eadaa68fa30ea5c3d905fcca1..0000000000000000000000000000000000000000 --- a/config.yaml +++ /dev/null @@ -1,141 +0,0 @@ -device: cuda -use_amp: false -seed: 100000 -dataset_repo_id: lerobot/pusht -training: - offline_steps: 200000 - online_steps: 0 - online_steps_between_rollouts: 1 - online_sampling_ratio: 0.5 - online_env_seed: ??? - eval_freq: 10000 - save_freq: 20000 - log_freq: 250 - save_model: true - batch_size: 64 - grad_clip_norm: 10 - lr: 0.0001 - lr_scheduler: cosine - lr_warmup_steps: 500 - adam_betas: - - 0.95 - - 0.999 - adam_eps: 1.0e-08 - adam_weight_decay: 1.0e-06 - delta_timestamps: - observation.image: - - -0.1 - - 0.0 - observation.state: - - -0.1 - - 0.0 - action: - - -0.1 - - 0.0 - - 0.1 - - 0.2 - - 0.3 - - 0.4 - - 0.5 - - 0.6 - - 0.7 - - 0.8 - - 0.9 - - 1.0 - - 1.1 - - 1.2 - - 1.3 - - 1.4 - n_end_keyframes_dropped: ${policy.horizon} - ${policy.n_action_steps} - ${policy.n_obs_steps} - + 1 -eval: - n_episodes: 50 - batch_size: 50 - use_async_envs: false -wandb: - enable: true - disable_artifact: true - project: lerobot - notes: '' -fps: 10 -env: - name: pusht - task: PushT-v0 - image_size: 96 - state_dim: 2 - action_dim: 2 - fps: ${fps} - episode_length: 300 - gym: - obs_type: pixels_agent_pos - render_mode: rgb_array - visualization_width: 384 - visualization_height: 384 -override_dataset_stats: - observation.image: - mean: - - - - 0.5 - - - - 0.5 - - - - 0.5 - std: - - - - 0.5 - - - - 0.5 - - - - 0.5 - observation.state: - min: - - 13.456424 - - 32.938293 - max: - - 496.14618 - - 510.9579 - action: - min: - - 12.0 - - 25.0 - max: - - 511.0 - - 511.0 -policy: - name: diffusion - n_obs_steps: 2 - horizon: 16 - n_action_steps: 8 - input_shapes: - observation.image: - - 3 - - 96 - - 96 - observation.state: - - ${env.state_dim} - output_shapes: - action: - - ${env.action_dim} - input_normalization_modes: - observation.image: mean_std - observation.state: min_max - output_normalization_modes: - action: min_max - vision_backbone: resnet18 - crop_shape: - - 84 - - 84 - crop_is_random: true - pretrained_backbone_weights: null - use_group_norm: true - spatial_softmax_num_keypoints: 32 - down_dims: - - 512 - - 1024 - - 2048 - kernel_size: 5 - n_groups: 8 - diffusion_step_embed_dim: 128 - use_film_scale_modulation: true - num_train_timesteps: 100 - beta_schedule: squaredcos_cap_v2 - beta_start: 0.0001 - beta_end: 0.02 - prediction_type: epsilon - clip_sample: true - clip_sample_range: 1.0 - num_inference_steps: 100 diff --git a/eval_avg_max_reward.csv b/eval_avg_max_reward.csv deleted file mode 100644 index 31048e17122b38b74ce6157be80285c7211b62bc..0000000000000000000000000000000000000000 --- a/eval_avg_max_reward.csv +++ /dev/null @@ -1,21 +0,0 @@ -Step,diffusion_pusht_final - eval/avg_max_reward -10000,0.727783498535056 -20000,0.926793976568431 -30000,0.928166216058858 -40000,0.958328167172369 -50000,0.943188394510958 -60000,0.937613393970094 -70000,0.964618642115711 -80000,0.978192933234 -90000,0.953355139113338 -100000,0.950833988995675 -110000,0.982668314916378 -120000,0.939619379505442 -130000,0.959122695767039 -140000,0.968145088219487 -150000,0.959675288643079 -160000,0.988640977099844 -170000,0.943671615378961 -180000,0.965194043468211 -190000,0.963914309028651 -200000,0.959864101861565 diff --git a/eval_info.json b/eval_info.json index 9854e6fe011f7154ed2aff2fba1eee3630b86857..f4553b748f2a9448659451190c8eb29f8add82c0 100644 --- a/eval_info.json +++ b/eval_info.json @@ -1,3523 +1,3523 @@ { - "per_episode": [ - { - "episode_ix": 0, - "sum_reward": 67.91827392421607, - "max_reward": 1.0, - "success": true, - "seed": 100000 - }, - { - "episode_ix": 1, - "sum_reward": 35.26988563069307, - "max_reward": 1.0, - "success": true, - "seed": 100001 - }, - { - "episode_ix": 2, - "sum_reward": 46.82095712284917, - "max_reward": 1.0, - "success": true, - "seed": 100002 - }, - { - "episode_ix": 3, - "sum_reward": 50.580502526964, - "max_reward": 1.0, - "success": true, - "seed": 100003 - }, - { - "episode_ix": 4, - "sum_reward": 19.35598770085112, - "max_reward": 1.0, - "success": true, - "seed": 100004 - }, - { - "episode_ix": 5, - "sum_reward": 121.91284836119289, - "max_reward": 1.0, - "success": true, - "seed": 100005 - }, - { - "episode_ix": 6, - "sum_reward": 127.6588538448446, - "max_reward": 1.0, - "success": true, - 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