make some changes to defaults for training

configs/commands/rlbench/_train.yaml

@@ -12,9 +12,9 @@ pretraining:
   mode: none
 
 training:
-  max_epochs: 2000
+  max_epochs: 10000
   batch_size: 8
-  check_val_every_n_epoch: 10
+  check_val_every_n_epoch: 100
   log_every_n_steps: 100
 
 dm:

configs/commands/rlbench/pick_and_lift/train_taxpose_tc.yaml

@@ -7,7 +7,9 @@ defaults:
   - override /phase: all
   - _self_
 
-
-# Training needs to happen for longer with additional context.
-training:
-  max_epochs: 2000
+# Include RGB features in the training dataset + model.
+dm:
+  train_dset:
+    include_rgb_features: True
+model:
+  feature_channels: 3

configs/commands/rlbench/pick_up_cup/train_taxpose_tc.yaml

@@ -6,3 +6,10 @@ defaults:
   - override /task: pick_up_cup
   - override /phase: all
   - _self_
+
+# Include RGB features in the training dataset + model.
+dm:
+  train_dset:
+    include_rgb_features: True
+model:
+  feature_channels: 3

configs/commands/rlbench/reach_target/train_taxpose_tc.yaml

@@ -6,3 +6,10 @@ defaults:
   - override /task: reach_target
   - override /phase: all
   - _self_
+
+# Include RGB features in the training dataset + model.
+dm:
+  train_dset:
+    include_rgb_features: True
+model:
+  feature_channels: 3

launch.sh

@@ -89,7 +89,7 @@ elif [ $PLATFORM == "local-docker" ]; then
     -e WANDB_API_KEY="${WANDB_API_KEY}" \
     -e WANDB_DOCKER_IMAGE=taxpose \
     -v /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json \
-    -v /home/beisner/datasets/:/data \
+    -v /data:/data \
     -v /home/beisner/code/rpad/taxpose/artifacts:/opt/artifacts \
     -v /home/beisner/code/rpad/taxpose/logs:/opt/logs \
     -v /home/beisner/code/rpad/taxpose:/opt/baeisner/code \

scripts/README.md

@@ -357,3 +357,26 @@ take_umbrella_out_of_umbrella_stand: b48mz8e1
 ./configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/precision_eval.sh dm.train_dset.include_rgb_features=True model.feature_channels=3 checkpoint=r-pad/taxpose/model-b48mz8e1:v0 benchmark.dataset_root=/data/rlbench10_collisions
 
 ```
+
+
+# Final training for longer
+
+./launch.sh autobot 0 python scripts/train_residual_flow.py --config-name commands/rlbench/pick_and_lift/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 1 python scripts/train_residual_flow.py --config-name commands/rlbench/pick_up_cup/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 2 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 3 python scripts/train_residual_flow.py --config-name commands/rlbench/put_money_in_safe/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 4 python scripts/train_residual_flow.py --config-name commands/rlbench/push_button/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 5 python scripts/train_residual_flow.py --config-name commands/rlbench/reach_target/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 6 python scripts/train_residual_flow.py --config-name commands/rlbench/slide_block_to_target/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 7 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 8 python scripts/train_residual_flow.py --config-name commands/rlbench/take_money_out_safe/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions
+
+./launch.sh autobot 9 python scripts/train_residual_flow.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions