diff --git a/commands.txt b/commands.txt deleted file mode 100644 index b95b803..0000000 --- a/commands.txt +++ /dev/null @@ -1,1038 +0,0 @@ - - - -# ROS terminal -ros-init -roslaunch aloha 4arms_teleop.launch - -# Right hand terminal -conda activate aloha -cd-ps -python3 one_side_teleop.py right - -# Left hand terminal -conda activate aloha -cd-ps -python3 one_side_teleop.py left - -# Sleep terminal -conda activate aloha -cd-ps -python3 sleep.py - -# To recompile -ros-init -catkin_make - - - -python3 record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/test_new --episode_idx 0 - -python3 visualize_episodes.py --dataset_dir /scr2/tonyzhao/datasets/test_new --episode_idx 0 - -python3 replay_episodes.py --dataset_dir /scr2/tonyzhao/datasets/test_new --episode_idx 0 - -python3 imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_25_battery \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_25_battery-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 90 --hidden_dim 512 --batch_size 4 --dim_feedforward 3000 \ ---task_name battery --seed 0 --eval - -##################################################################### -##################################################################### -##################################################################### - -# record sim episodes - -python3 record_sim_episodes.py --task_name transfer_cube --dataset_dir /scr2/tonyzhao/datasets/test_transfer --num_episodes 50 -python3 record_sim_episodes.py --task_name insertion --dataset_dir /scr2/tonyzhao/datasets/test_insertion --num_episodes 50 - - -python3 visualize_episodes.py --dataset_dir /scr2/tonyzhao/datasets/test_transfer --episode_idx 0 - - -python3 imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr2/tonyzhao/train_logs/test_transfer \ ---policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 \ ---num_epochs 1000 --lr 1e-4 -# GOOD - -python3 imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_9_sim_insertion \ ---ckpt_dir /scr2/tonyzhao/train_logs/test_insertion \ ---policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name insertion --seed 0 \ ---num_epochs 1000 --lr 1e-4 - - -python3 imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_9_sim_insertion \ ---ckpt_dir /scr2/tonyzhao/train_logs/test_insertion2 \ ---policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name insertion --seed 0 \ ---num_epochs 2000 --lr 1e-4 - - -python3 imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_9_sim_insertion \ ---ckpt_dir /scr2/tonyzhao/train_logs/test_insertion3 \ ---policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name insertion --seed 0 \ ---num_epochs 2000 --lr 1e-5 -# 48% -# 54% with TA - - -python3 imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr2/tonyzhao/train_logs/test_transfer3 \ ---policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 \ ---num_epochs 2000 --lr 1e-5 - - - -# MLP - -python3 imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr2/tonyzhao/train_logs/test_transfer-mlp \ ---policy_class CNNMLP --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 \ ---num_epochs 1000 --lr 1e-4 -# GOOD - - - -##################################################################### -##################################################################### -##################################################################### - - -# training bc -conda activate fm -cd-ps -python3 examples/imitate_episodes.py --ckpt_dir /home/tonyzhao/train_logs/10_18_ovefit_GPT/ --eval --onscreen_render - - -# sim and collision detection - -cd /home/tonyzhao/mujoco-2.2.1/bin -./simulate /home/tonyzhao/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/bimanual_viperx.xml - - -# run experiments in cluster - -export MUJOCO_GL=osmesa -cd /afs/cs.stanford.edu/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples -python3 imitate_episodes.py --ckpt_dir=/iris/u/tonyzhao/train_logs/11_1_detr_cluster - - - -# WIP - -# fix usb port for robots -udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial - -SUBSYSTEM=="tty", ATTRS{serial}=="FT6S4DSP", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL0" -SUBSYSTEM=="tty", ATTRS{serial}=="FT6S4HW3", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL1" -SUBSYSTEM=="tty", ATTRS{serial}=="FT4NQ4YH", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL2" -SUBSYSTEM=="tty", ATTRS{serial}=="FT6S4DOU", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL3" - -# fix usb port for cameras -udevadm info --name=/dev/video0 --attribute-walk | grep serial - -SUBSYSTEM=="video4linux", ATTRS{serial}=="C58A5FAF", ATTR{index}=="0", ATTRS{idProduct}=="085c", ATTR{device/latency_timer}="1", SYMLINK+="CAM_RIGHT_WRIST" -SUBSYSTEM=="video4linux", ATTRS{serial}=="7FDB4B6F", ATTR{index}=="0", ATTRS{idProduct}=="085c", ATTR{device/latency_timer}="1", SYMLINK+="CAM_HIGH" -SUBSYSTEM=="video4linux", ATTRS{serial}=="0E1A2B2F", ATTR{index}=="0", ATTRS{idProduct}=="085c", ATTR{device/latency_timer}="1", SYMLINK+="CAM_LEFT_WRIST" -SUBSYSTEM=="video4linux", ATTRS{serial}=="98ED30BF", ATTR{index}=="0", ATTRS{idProduct}=="085c", ATTR{device/latency_timer}="1", SYMLINK+="CAM_LOW" - -# add these commands and reload usb connections -sudo vim /etc/udev/rules.d/99-fixed-interbotix-udev.rules -sudo udevadm control --reload -sudo udevadm trigger - - -# Installation - -Install interbotix and ROS. Ubuntu 18.01 or 20.01 -https://www.trossenrobotics.com/docs/interbotix_xsarms/ros_interface/software_setup.html - -Install oculus reader -https://github.com/rail-berkeley/oculus_reader -After following the first few installations -Clone the repo -pip install -e - -Follow instruction, and use apt get to install ros-noetic-* - - -# installing usb camera -sudo apt-get install ros-noetic-usb-cam -sudo apt-get install ros-noetic-cv-bridge - - -conda activate fm -pip install torchvision -pip install torch -pip install pyquaternion -pip install pyyaml -pip install rospkg -pip install pexpect -pip install mujoco -pip install dm_control -pip install opencv-python -pip install matplotlib -pip install einops -pip install packaging -pip install h5py - -### Experiments - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_10_velcro_thread_win_30_kl_5 --kl_weight 5 --window_len 30 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_10_velcro_thread_win_30_kl_10 --kl_weight 10 --window_len 30 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_10_velcro_thread_win_30_kl_20 --kl_weight 20 --window_len 30 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_10_velcro_thread_win_30_kl_40 --kl_weight 40 --window_len 30 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_10_velcro_thread_win_15_kl_10 --kl_weight 10 --window_len 15 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_11_velcro_thread_win_60_kl_10 --kl_weight 10 --window_len 60 - - -Dec 21 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_21_velcro_thread_win_60_kl_10 --kl_weight 10 --window_len 60 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_21_velcro_thread_win_30_kl_10 --kl_weight 10 --window_len 30 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_21_velcro_thread_win_60_kl_20 --kl_weight 20 --window_len 60 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_21_velcro_thread_win_30_kl_20 --kl_weight 20 --window_len 30 --eval - -Dec 22 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_22_velcro_thread_win_60_kl_10 --kl_weight 10 --window_len 60 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_22_velcro_thread_win_60_kl_20 --kl_weight 20 --window_len 60 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_22_velcro_thread_win_60_kl_40 --kl_weight 40 --window_len 60 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_22_velcro_thread_win_30_kl_10 --kl_weight 10 --window_len 30 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_22_velcro_thread_win_30_kl_40 --kl_weight 40 --window_len 30 --eval - -round 2 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/12_22_velcro_thread_win_60_kl_10 --kl_weight 5 --window_len 60 - -# human data + detrvae - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_try1 --kl_weight 10 --window_len 60 -Success rate: 0.14 -Average return: 22.04 - - -try 512 hidden_dim -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_try1_expressive --kl_weight 10 --window_len 60 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_try1_expressive2 --kl_weight 10 --window_len 50 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_try2 --kl_weight 10 --window_len 400 - - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_try3_expressive --kl_weight 10 --window_len 200 --eval - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_try4_expressive --kl_weight 10 --window_len 100 --eval - - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_try1_20kl --kl_weight 20 --window_len 60 # --hidden_dim 256 --batch_size 4 -# 0.32 - - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try1 --kl_weight 20 --window_len 60 --hidden_dim 256 --batch_size 32 -Success rate: 0.02 -Average return: 2.32 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try2 --kl_weight 30 --window_len 60 --hidden_dim 256 --batch_size 32 -Success rate: 0.02 -Average return: 2.22 - - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try3 --kl_weight 20 --window_len 60 --hidden_dim 512 --batch_size 16 -Success rate: 0.18 -Average return: 22.8 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try4 --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 16 -Success rate: 0.38 -Average return: 33.16 - - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try5 --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 -Success rate: 0.04 -Average return: 4.1 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try6 --kl_weight 40 --window_len 60 --hidden_dim 512 --batch_size 16 -Success rate: 0.26 -Average return: 33.18 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try7 --kl_weight 30 --window_len 60 --hidden_dim 1024 --batch_size 8 -Success rate: 0.04 -Average return: 5.9 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_1_sim_box_human_detrvae_sweep_try8 --kl_weight 40 --window_len 60 --hidden_dim 1024 --batch_size 8 -Success rate: 0.02 -Average return: 0.42 - - -# new task insertion - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_10_sim_insertion_detrvae_sweep_try1 --kl_weight 10 --window_len 400 --hidden_dim 256 --batch_size 8 -Success rate: 0.0 -Average return: 0.0 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_10_sim_insertion_detrvae_sweep_try2 --kl_weight 10 --window_len 200 --hidden_dim 256 --batch_size 8 -Success rate: 0.15 -Average return: 1.95 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_10_sim_insertion_detrvae_sweep_try3 --kl_weight 10 --window_len 100 --hidden_dim 256 --batch_size 8 -Success rate: 0.4 -Average return: 16.7 - -python3 examples/imitate_episodes.py --ckpt_dir /scr/tonyzhao/train_logs/1_10_sim_insertion_detrvae_sweep_try4 --kl_weight 10 --window_len 50 --hidden_dim 256 --batch_size 8 -Success rate: 0.2 -Average return: 9.8 - - - -### Ours - experiments and time ensemble - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 16 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 -# 28 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-2 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 -# 38 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-3 \ ---policy_class DETRVAE --kl_weight 30 --window_len 120 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 -# BAD - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-4 \ ---policy_class DETRVAE --kl_weight 30 --window_len 30 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 -# BAD - -# maybe just train more? -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-5 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 -# 30 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-6 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 1024 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 -# bad - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-7 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 6144 \ ---task_name transfer_cube --seed 0 -# bad - - -######### - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-Tweak-seed-0 \ ---policy_class DETRVAE --kl_weight 40 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 --eval - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-Tweak-seed-1 \ ---policy_class DETRVAE --kl_weight 40 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 1 --eval - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-Tweak-seed-2 \ ---policy_class DETRVAE --kl_weight 40 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 2 --eval - -### MAJOR REGRESSION - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win400-seed-0-fix-regression \ ---policy_class DETRVAE --kl_weight 10 --window_len 400 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 - - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win400-seed-1-fix-regression \ ---policy_class DETRVAE --kl_weight 10 --window_len 400 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 1 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win400-seed-2-fix-regression \ ---policy_class DETRVAE --kl_weight 10 --window_len 400 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 2 - -### TODO TODO try with and without time ensemble! - - -### Retry with 200 window - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-1 \ ---policy_class DETRVAE --kl_weight 10 --window_len 200 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 --eval - -Reward >= 0: 50/50 = 100.0% -Reward >= 1: 42/50 = 84.0% -Reward >= 2: 40/50 = 80.0% -Reward >= 3: 36/50 = 72.0% -Reward >= 4: 36/50 = 72.0% - -After time ensemble -Reward >= 0: 50/50 = 100.0% -Reward >= 1: 48/50 = 96.0% -Reward >= 2: 46/50 = 92.0% -Reward >= 3: 45/50 = 90.0% -Reward >= 4: 45/50 = 90.0% - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-1-seed-1 \ ---policy_class DETRVAE --kl_weight 10 --window_len 200 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 1 -Reward >= 0: 50/50 = 100.0% -Reward >= 1: 38/50 = 76.0% -Reward >= 2: 34/50 = 68.0% -Reward >= 3: 14/50 = 28.000000000000004% -Reward >= 4: 14/50 = 28.000000000000004% - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-1-seed-2 \ ---policy_class DETRVAE --kl_weight 10 --window_len 200 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 2 -Reward >= 0: 50/50 = 100.0% -Reward >= 1: 17/50 = 34.0% -Reward >= 2: 9/50 = 18.0% -Reward >= 3: 2/50 = 4.0% -Reward >= 4: 2/50 = 4.0% - -### - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-3-seed-0 \ ---policy_class DETRVAE --kl_weight 10 --window_len 50 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 -Reward >= 0: 50/50 = 100.0% -Reward >= 1: 41/50 = 82.0% -Reward >= 2: 37/50 = 74.0% -Reward >= 3: 23/50 = 46.0% -Reward >= 4: 23/50 = 46.0% - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-3-seed-1 \ ---policy_class DETRVAE --kl_weight 10 --window_len 50 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 1 -Reward >= 0: 50/50 = 100.0% -Reward >= 1: 32/50 = 64.0% -Reward >= 2: 13/50 = 26.0% -Reward >= 3: 1/50 = 2.0% -Reward >= 4: 1/50 = 2.0% - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-3-seed-2 \ ---policy_class DETRVAE --kl_weight 10 --window_len 50 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 2 -Reward >= 0: 50/50 = 100.0% -Reward >= 1: 45/50 = 90.0% -Reward >= 2: 41/50 = 82.0% -Reward >= 3: 21/50 = 42.0% -Reward >= 4: 21/50 = 42.0% - - -# others -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win400-seed-0-1 \ ---policy_class DETRVAE --kl_weight 10 --window_len 400 --hidden_dim 512 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win400-seed-1 \ ---policy_class DETRVAE --kl_weight 30 --window_len 400 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 1 - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win400-seed-2 \ ---policy_class DETRVAE --kl_weight 30 --window_len 400 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 2 - - - - -# TODO compare with no VAE - -#################################################################################################### -###################################### Paper Experiments ########################################### -#################################################################################################### - -### train 3 seeds of BYOL on scripted and human data - -srun --account=iris -p iris-interactive --mem=20GB --gres=gpu:1 --pty bash - -rsync -ra /scr/tonyzhao/datasets/ tonyzhao@scdt:/iris/u/tonyzhao/datasets - -cd /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning -conda activate tonyz-fm - -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/12_25_sim_transfer_box_top_view --seed 0 # DONE -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/12_25_sim_transfer_box_top_view --seed 1 # DONE -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/12_25_sim_transfer_box_top_view --seed 2 # DONE - -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/12_30_sim_box_50_human --seed 0 # DONE -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/12_30_sim_box_50_human --seed 1 # DONE -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/12_30_sim_box_50_human --seed 2 # DONE - -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/1_9_sim_insertion --seed 0 -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/1_9_sim_insertion --seed 1 -python3 train.py --dataset_dir /iris/u/tonyzhao/datasets/1_9_sim_insertion --seed 2 - - -# sync the checkpoints back -rsync -ra tonyzhao@scdt:/iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/*.pt /scr/tonyzhao/remote_trained - - -### Cache feature for all models -# LOCAL -launch -python3 examples/cache_feature.py --ckpt_path /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-0.pt # DONE -python3 examples/cache_feature.py --ckpt_path /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-1.pt # DONE -python3 examples/cache_feature.py --ckpt_path /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-2.pt # DONE - -python3 examples/cache_feature.py --ckpt_path /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-0.pt # DONE -python3 examples/cache_feature.py --ckpt_path /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-1.pt # DONE -python3 examples/cache_feature.py --ckpt_path /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-2.pt # DONE - - -# REMOTE -cd /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts -conda activate tonyz-fm - -# DONE -python3 examples/cache_feature.py --ckpt_path /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/byol-12_25_sim_transfer_box_top_view-seed-0.pt -python3 examples/cache_feature.py --ckpt_path /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/byol-12_25_sim_transfer_box_top_view-seed-1.pt -python3 examples/cache_feature.py --ckpt_path /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/byol-12_25_sim_transfer_box_top_view-seed-2.pt - -# DONE -python3 examples/cache_feature.py --ckpt_path /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/byol-12_30_sim_box_50_human-seed-0.pt -python3 examples/cache_feature.py --ckpt_path /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/byol-12_30_sim_box_50_human-seed-1.pt -python3 examples/cache_feature.py --ckpt_path /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/byol-12_30_sim_box_50_human-seed-2.pt - - -### VINN - -# Scripted data -# select K -python3 examples/vinn_select_k.py # hardcode parameters - -# LOCAL -mkdir /scr/tonyzhao/train_logs/vinn_12_25_sim_transfer_box_top_view-seed-0 -python3 examples/vinn_eval.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-0.pt \ ---task_name transfer_cube \ ---ckpt_dir /scr/tonyzhao/train_logs/vinn_12_25_sim_transfer_box_top_view-seed-0 -# RECORDED - -mkdir /scr/tonyzhao/train_logs/vinn_12_25_sim_transfer_box_top_view-seed-1 -python3 examples/vinn_eval.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-1.pt \ ---task_name transfer_cube \ ---ckpt_dir /scr/tonyzhao/train_logs/vinn_12_25_sim_transfer_box_top_view-seed-1 -# RECORDED - -mkdir /scr/tonyzhao/train_logs/vinn_12_25_sim_transfer_box_top_view-seed-2 -python3 examples/vinn_eval.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-2.pt \ ---task_name transfer_cube \ ---ckpt_dir /scr/tonyzhao/train_logs/vinn_12_25_sim_transfer_box_top_view-seed-2 -# RECORDED - -# Human data -# select K -python3 examples/vinn_select_k.py # hardcode parameters - -# LOCAL -mkdir /scr/tonyzhao/train_logs/vinn-12_30_sim_box_50_human-seed-0 -python3 examples/vinn_eval.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-0.pt \ ---task_name transfer_cube \ ---ckpt_dir /scr/tonyzhao/train_logs/vinn-12_30_sim_box_50_human-seed-0 -# RECORDED - -mkdir /scr/tonyzhao/train_logs/vinn-12_30_sim_box_50_human-seed-1 -python3 examples/vinn_eval.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-1.pt \ ---task_name transfer_cube \ ---ckpt_dir /scr/tonyzhao/train_logs/vinn-12_30_sim_box_50_human-seed-1 -# RECORDED - -mkdir /scr/tonyzhao/train_logs/vinn-12_30_sim_box_50_human-seed-2 -python3 examples/vinn_eval.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-2.pt \ ---task_name transfer_cube \ ---ckpt_dir /scr/tonyzhao/train_logs/vinn-12_30_sim_box_50_human-seed-2 -# RECORDED - - - -### BET - -# LOCAL - -# Scripted data -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-0.pt \ ---ckpt_dir /scr/tonyzhao/train_logs/bet-12_25_sim_transfer_box_top_view-seed-0 \ ---window_len 100 --n_embd 1500 --state_repeat 10 --seed 0 -# RECORDED - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-1.pt \ ---ckpt_dir /scr/tonyzhao/train_logs/bet-12_25_sim_transfer_box_top_view-seed-1 \ ---window_len 100 --n_embd 1500 --state_repeat 10 --seed 1 -# RECORDED - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_25_sim_transfer_box_top_view-seed-2.pt \ ---ckpt_dir /scr/tonyzhao/train_logs/bet-12_25_sim_transfer_box_top_view-seed-2 \ ---window_len 100 --n_embd 1500 --state_repeat 10 --seed 2 -# RECORDED - -# Human data -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-0.pt \ ---ckpt_dir /scr/tonyzhao/train_logs/bet-12_30_sim_box_50_human-seed-0 \ ---window_len 100 --n_embd 1500 --state_repeat 10 --seed 0 -# RECORDED - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-1.pt \ ---ckpt_dir /scr/tonyzhao/train_logs/bet-12_30_sim_box_50_human-seed-1 \ ---window_len 100 --n_embd 1500 --state_repeat 10 --seed 1 -# RECORDED - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---model_dir /scr/tonyzhao/remote_trained/byol-12_30_sim_box_50_human-seed-2.pt \ ---ckpt_dir /scr/tonyzhao/train_logs/bet-12_30_sim_box_50_human-seed-2 \ ---window_len 100 --n_embd 1500 --state_repeat 10 --seed 2 -# RECORDED - -# REMOTE # not used -python3 examples/imitate_episodes.py \ ---dataset_dir /iris/u/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---model_dir /iris/u/tonyzhao/Research/interbotix-src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/teleoperation/python_scripts/examples/byol_pytorch/examples/lightning/byol-12_25_sim_transfer_box_top_view-seed-0.pt ---ckpt_dir /iris/u/tonyzhao/train_logs/1_10_sim_box_bet_vision_byol_try2 \ ---window_len 100 --n_embd 1500 --state_repeat 10 --seed 0 - - -### MLP - -# scripted data -# LOCAL -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/CNNMLP_12_25_sim_transfer_box_top_view-seed-0 \ ---policy_class CNNMLP --batch_size 16 --seed 0 --task_name transfer_cube - -# Remote -python3 examples/imitate_episodes.py \ ---dataset_dir /iris/u/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /iris/u/tonyzhao/train_logs/CNNMLP_12_25_sim_transfer_box_top_view-seed-0 \ ---policy_class CNNMLP --batch_size 16 --seed 0 --task_name transfer_cube - -python3 examples/imitate_episodes.py \ ---dataset_dir /iris/u/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /iris/u/tonyzhao/train_logs/CNNMLP_12_25_sim_transfer_box_top_view-seed-1 \ ---policy_class CNNMLP --batch_size 16 --seed 1 --task_name transfer_cube - -python3 examples/imitate_episodes.py \ ---dataset_dir /iris/u/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /iris/u/tonyzhao/train_logs/CNNMLP_12_25_sim_transfer_box_top_view-seed-2 \ ---policy_class CNNMLP --batch_size 16 --seed 2 --task_name transfer_cube - -# human data - -python3 examples/imitate_episodes.py \ ---dataset_dir /iris/u/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /iris/u/tonyzhao/train_logs/CNNMLP_12_30_sim_box_50_human-seed-0 \ ---policy_class CNNMLP --batch_size 16 --seed 0 --task_name transfer_cube - -python3 examples/imitate_episodes.py \ ---dataset_dir /iris/u/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /iris/u/tonyzhao/train_logs/CNNMLP_12_30_sim_box_50_human-seed-1 \ ---policy_class CNNMLP --batch_size 16 --seed 1 --task_name transfer_cube - -python3 examples/imitate_episodes.py \ ---dataset_dir /iris/u/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /iris/u/tonyzhao/train_logs/CNNMLP_12_30_sim_box_50_human-seed-2 \ ---policy_class CNNMLP --batch_size 16 --seed 2 --task_name transfer_cube - - -### DETR VAE with human data - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-2 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 -# Recorded - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-2-seed-1 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 1 -# Recorded - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_30_sim_box_50_human \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_30_sim_box_50_human-TEST-2-seed-2 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 2 -# Recorded - - -### DETR VAE with scripted data - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win60-seed-0 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 0 --eval -# Recorded # TODO also run time ensemble version? - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win60-seed-1 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 1 -# Recorded # TODO also run time ensemble version? - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_win60-seed-2 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 8 --dim_feedforward 4096 \ ---task_name transfer_cube --seed 2 -# Recorded, with time ensemble - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-2-seed-0 \ ---policy_class DETRVAE --kl_weight 10 --window_len 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 0 -# Recorded - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-2-seed-1 \ ---policy_class DETRVAE --kl_weight 10 --window_len 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 1 -# Recorded - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr/tonyzhao/datasets/12_25_sim_transfer_box_top_view \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_12_25_sim_transfer_box_top_view_sweep-2-seed-2 \ ---policy_class DETRVAE --kl_weight 10 --window_len 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ ---task_name transfer_cube --seed 2 -# Recorded - - - -############################################################### -### Real robot experiments -############################################################### - -### Ziploc slide - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_20_zip_slide --episode_idx 0 - -# Ours -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_20_zip_slide \ ---ckpt_dir /scr/tonyzhao/train_logs/DETRVAE_1_20_zip_slide-seed-0 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 2 --dim_feedforward 4096 \ ---task_name ziploc_slide --seed 0 -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_20_zip_slide \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_20_zip_slide-seed-0-1 \ ---policy_class DETRVAE --kl_weight 20 --window_len 60 --hidden_dim 256 --batch_size 4 --dim_feedforward 2048 \ ---task_name ziploc_slide --seed 0 -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_20_zip_slide \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_20_zip_slide-seed-0-2 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 256 --batch_size 4 --dim_feedforward 2048 \ ---task_name ziploc_slide --seed 0 -# BEST - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_20_zip_slide \ ---ckpt_dir /scr2/tonyzhao/train_logs/CNNMLP_1_20_zip_slide-seed-0 \ ---policy_class CNNMLP --batch_size 4 \ ---task_name ziploc_slide --seed 0 - - -### Ziploc open - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_21_zipoc-seed-0 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 256 --batch_size 4 --dim_feedforward 2048 \ ---task_name ziploc --seed 0 - -# overnight - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_21_zipoc-seed-0-1 \ ---policy_class DETRVAE --kl_weight 30 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name ziploc --seed 0 --eval - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_21_zipoc-seed-0-2 \ ---policy_class DETRVAE --kl_weight 50 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name ziploc --seed 0 --eval - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_21_zipoc-seed-0-3 \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name ziploc --seed 0 --eval - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_21_zipoc-seed-0-4 \ ---policy_class DETRVAE --kl_weight 100 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name ziploc --seed 0 --eval - -### 1 conv only - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_22_zipoc-seed-0-1conv \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name ziploc --seed 0 - -# just train for longer - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_22_zipoc-seed-0-1conv_longer \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name ziploc --seed 0 - - -rsync -ra tonyzhao@scdt:/iris/u/tonyzhao/train_logs/DETRVAE_1_22_zipoc-seed-0-try1 /scr/tonyzhao/remote_trained/DETRVAE_1_22_zipoc-seed-0-try1 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_21_zipoc \ ---ckpt_dir /scr/tonyzhao/remote_trained/DETRVAE_1_22_zipoc-seed-0-try1 \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 1024 --batch_size 8 --dim_feedforward 4096 \ ---task_name ziploc --seed 0 - - - -Do we need the VAE? - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_22_zipoc_fixed --episode_idx 0 - - -### Condiment cups - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_22_cups_open --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_22_cups_open \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_22_cups_open-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name cup_open --seed 0 --eval - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_22_cups_open \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_22_cups_open-seed-0-1 \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name cup_open --seed 0 --eval - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_22_cups_open \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_22_cups_open-seed-0-2 \ ---policy_class DETRVAE --kl_weight 100 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name cup_open --seed 0 --eval - -### Condiment cups2 - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_23_cups_open --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_23_cups_open \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_23_cups_open-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name cup_open --seed 0 - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_23_cups_open \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_23_cups_open-seed-0-longwindow \ ---policy_class DETRVAE --kl_weight 80 --window_len 90 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name cup_open --seed 0 - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_23_cups_open \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_23_cups_open-seed-0-longer \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name cup_open --seed 0 - - - - -### Battery slotting - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_23_battery --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_23_battery \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_23_battery-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 60 --hidden_dim 512 --batch_size 4 --dim_feedforward 3200 \ ---task_name battery --seed 0 - -### Battery slotting try 2 - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_24_battery --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_24_battery \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_24_battery-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 90 --hidden_dim 512 --batch_size 4 --dim_feedforward 3000 \ ---task_name battery --seed 0 --eval - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_24_battery \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_24_battery-seed-0_try2 \ ---policy_class DETRVAE --kl_weight 80 --window_len 120 --hidden_dim 512 --batch_size 4 --dim_feedforward 3000 \ ---task_name battery --seed 0 --eval - - -### Battery slotting try 3 - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_25_battery --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_25_battery \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_25_battery-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 90 --hidden_dim 512 --batch_size 4 --dim_feedforward 3000 \ ---task_name battery --seed 0 - - - -### Taping - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_26_tape --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_26_tape \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_26_tape-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 90 --hidden_dim 512 --batch_size 4 --dim_feedforward 3000 \ ---task_name tape --seed 0 - - -### Candy! - -python3 examples/record_episodes.py --dataset_dir /scr2/tonyzhao/datasets/1_27_candy --episode_idx 0 - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_27_candy \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_27_candy-seed-0 \ ---policy_class DETRVAE --kl_weight 80 --window_len 90 --hidden_dim 512 --batch_size 4 --dim_feedforward 3000 \ ---task_name tape --seed 0 - - - -python3 examples/imitate_episodes.py \ ---dataset_dir /scr2/tonyzhao/datasets/1_27_candy \ ---ckpt_dir /scr2/tonyzhao/train_logs/DETRVAE_1_27_candy-seed-0-1 \ ---policy_class DETRVAE --kl_weight 80 --window_len 120 --hidden_dim 512 --batch_size 4 --dim_feedforward 3000 \ ---task_name tape --seed 0 - - - - - - - - -