# 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