set defaults apporpriately

r-pad · Jun 5, 2024 · 915bbb3 · 915bbb3
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commit 915bbb3
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diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml
@@ -5,3 +5,10 @@ defaults:
 - override /model: taxpose_tc
 - override /task: pick_and_lift
 - _self_
+
+# Make sure this one has rgb features.
+model:
+  feature_channels: 3
+
+policy_spec:
+  include_rgb_features: True
diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml
@@ -5,3 +5,10 @@ defaults:
 - override /model: taxpose_tc
 - override /task: pick_up_cup
 - _self_
+
+# Make sure this one has rgb features.
+model:
+  feature_channels: 3
+
+policy_spec:
+  include_rgb_features: True
diff --git a/configs/commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml b/configs/commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml
@@ -5,3 +5,10 @@ defaults:
 - override /model: taxpose_tc
 - override /task: reach_target
 - _self_
+
+# Make sure this one has rgb features.
+model:
+  feature_channels: 3
+
+policy_spec:
+  include_rgb_features: True
diff --git a/scripts/README.md b/scripts/README.md
@@ -380,3 +380,26 @@ take_umbrella_out_of_umbrella_stand: b48mz8e1
 ./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
+
+
+# Training w/o conditioning.
+
+./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 model.conditional=False
+
+./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 model.conditional=False
+
+./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 model.conditional=False
+
+./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 model.conditional=False
+
+./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 model.conditional=False
+
+./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 model.conditional=False
+
+./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 model.conditional=False
+
+./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 model.conditional=False
+
+./launch.sh autobot 0 python scripts/train_residual_flow.py --config-name commands/rlbench/take_money_out_safe/train_taxpose_tc.yaml benchmark.dataset_root=/data/rlbench10_collisions model.conditional=False
+
+./launch.sh autobot 1 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 model.conditional=False
diff --git a/scripts/run_rlbench10_rollouts.sh b/scripts/run_rlbench10_rollouts.sh
@@ -59,40 +59,150 @@
 
 # pick_and_lift
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-8pyp8zaw:v0 wandb.group=rlbench_pick_and_lift
+NUM_TRIALS=500
+
+
+# # pick_up_cup
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-9m4fflcx:v0 wandb.group=rlbench_pick_up_cup
+
+# # put_knife_on_chopping_board
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-rjscih24:v0 wandb.group=rlbench_put_knife_on_chopping_board
+
+# # put_money_in_safe
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-tpuvxzyg:v0 wandb.group=rlbench_put_money_in_safe
+
+# # push_button
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/push_button/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-mmc5fhzu:v0 wandb.group=rlbench_push_button
+
+# # reach_target
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-ffp30alr:v0 wandb.group=rlbench_reach_target
+
+# # slide_block_to_target
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-sejd7pz0:v0 wandb.group=rlbench_slide_block_to_target
+
+# # stack_wine
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/stack_wine/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-3hyo3r7q:v0 wandb.group=rlbench_stack_wine
+
+# # take_money_out_safe
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-u4bpi2bf:v0 wandb.group=rlbench_take_money_out_safe
+
+# # take_umbrella_out_of_umbrella_stand
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-b48mz8e1:v0 wandb.group=rlbench_take_umbrella_out_of_umbrella_stand
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-8pyp8zaw:v0 wandb.group=rlbench_pick_and_lift
+
+########################### No gripper, wrist cam, trained for 10x #############################
+
+# pick_and_lift: 0kaohhnd
+# pick_up_cup: wm2awuy3
+# push_button: 8pjlad6b
+# put_knife_on_chopping_board: qnrs3d24
+# put_money_in_safe: 17ohuoyi
+# reach_target: 58mr6cyt
+# slide_block_to_target: 68eod49e
+# stack_wine: k42u3jsg
+# take_money_out_safe: ry299c41
+# take_umbrella_out_of_umbrella_stand: uqslnslg
+
+
+# pick_and_lift
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-0kaohhnd:v0 wandb.group=rlbench_pick_and_lift
+
+# # pick_up_cup
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-wm2awuy3:v0 wandb.group=rlbench_pick_up_cup
+
+# # put_knife_on_chopping_board
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-qnrs3d24:v0 wandb.group=rlbench_put_knife_on_chopping_board
+
+# # put_money_in_safe
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-17ohuoyi:v0 wandb.group=rlbench_put_money_in_safe
+
+# # push_button
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/push_button/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-8pjlad6b:v0 wandb.group=rlbench_push_button
+
+# # reach_target
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-58mr6cyt:v0 wandb.group=rlbench_reach_target
+
+# # slide_block_to_target
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-68eod49e:v0 wandb.group=rlbench_slide_block_to_target
+
+# # stack_wine
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/stack_wine/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-k42u3jsg:v0 wandb.group=rlbench_stack_wine
+
+# # take_money_out_safe
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-ry299c41:v0 wandb.group=rlbench_take_money_out_safe
+
+# # take_umbrella_out_of_umbrella_stand
+
+# ./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-uqslnslg:v0 wandb.group=rlbench_take_umbrella_out_of_umbrella_stand
+
+########################### Remove conditional vector #############################
+
+# pick_and_lift: cralwmdq
+# pick_up_cup: hrw54l6b
+# push_button: qehsvvq3
+# put_knife_on_chopping_board: qnzr4gu2
+# put_money_in_safe: ilos0cn0
+# reach_target: u6o56yqc
+# slide_block_to_target: i9r6v1dw
+# stack_wine: dazcchr3
+# take_money_out_safe: 49cmezw7
+# take_umbrella_out_of_umbrella_stand: cw90yjba
+
+# pick_and_lift
+
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-cralwmdq:v0 wandb.group=rlbench_pick_and_lift model.conditional=False
 
 # pick_up_cup
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-9m4fflcx:v0 wandb.group=rlbench_pick_up_cup
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-hrw54l6b:v0 wandb.group=rlbench_pick_up_cup model.conditional=False
 
 # put_knife_on_chopping_board
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-rjscih24:v0 wandb.group=rlbench_put_knife_on_chopping_board
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-qnzr4gu2:v0 wandb.group=rlbench_put_knife_on_chopping_board model.conditional=False
 
 # put_money_in_safe
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-tpuvxzyg:v0 wandb.group=rlbench_put_money_in_safe
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-ilos0cn0:v0 wandb.group=rlbench_put_money_in_safe model.conditional=False
 
 # push_button
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/push_button/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-mmc5fhzu:v0 wandb.group=rlbench_push_button
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/push_button/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-qehsvvq3:v0 wandb.group=rlbench_push_button model.conditional=False
 
 # reach_target
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-ffp30alr:v0 wandb.group=rlbench_reach_target
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-u6o56yqc:v0 wandb.group=rlbench_reach_target model.conditional=False
 
 # slide_block_to_target
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-sejd7pz0:v0 wandb.group=rlbench_slide_block_to_target
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-i9r6v1dw:v0 wandb.group=rlbench_slide_block_to_target model.conditional=False
 
 # stack_wine
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/stack_wine/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-3hyo3r7q:v0 wandb.group=rlbench_stack_wine
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/stack_wine/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-dazcchr3:v0 wandb.group=rlbench_stack_wine model.conditional=False
 
 # take_money_out_safe
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-u4bpi2bf:v0 wandb.group=rlbench_take_money_out_safe
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-49cmezw7:v0 wandb.group=rlbench_take_money_out_safe model.conditional=False
 
 # take_umbrella_out_of_umbrella_stand
 
-./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/eval_rlbench.yaml num_trials=100 policy_spec.include_rgb_features=True model.feature_channels=3 checkpoints.ckpt_file=r-pad/taxpose/model-b48mz8e1:v0 wandb.group=rlbench_take_umbrella_out_of_umbrella_stand
+./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/eval_rlbench.yaml num_trials=$NUM_TRIALS checkpoints.ckpt_file=r-pad/taxpose/model-cw90yjba:v0 wandb.group=rlbench_take_umbrella_out_of_umbrella_stand model.conditional=False