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c09015ddefdd702acec0577319649bb24263092a
aloha/commands.txt
Tony Zhao c09015ddef first commit
2023-02-23 16:56:49 -08:00

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# 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
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