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 index 91ba0db..4feab8a 100644 --- 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 index 11d33ec..7541838 100644 --- 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 index aa57eb0..649bc79 100644 --- 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 index 748cd17..d7597c2 100644 --- 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 index 10e3d9a..2c0e440 100755 --- 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