diff --git a/robomimic_bc_rnn_visuomotor_models/franka_stack_mimic_cosmos_2k_table_only/20250423163314/config.json b/robomimic_bc_rnn_visuomotor_models/franka_stack_mimic_cosmos_2k_table_only/20250423163314/config.json new file mode 100644 index 0000000000000000000000000000000000000000..82a8760a95c1538b27edb980bc4091fb18cbafc4 --- /dev/null +++ b/robomimic_bc_rnn_visuomotor_models/franka_stack_mimic_cosmos_2k_table_only/20250423163314/config.json @@ -0,0 +1,234 @@ +{ + "algo_name": "bc", + "experiment": { + "name": "bc_rnn_image_franka_stack_res_200_mimic_2k_table_only", + "validate": false, + "logging": { + "terminal_output_to_txt": true, + "log_tb": true, + "log_wandb": false, + "wandb_proj_name": "debug" + }, + "save": { + "enabled": true, + "every_n_seconds": null, + "every_n_epochs": 20, + "epochs": [], + "on_best_validation": false, + "on_best_rollout_return": false, + "on_best_rollout_success_rate": true + }, + "epoch_every_n_steps": 500, + "validation_epoch_every_n_steps": 10, + "env": null, + "additional_envs": null, + "render": false, + "render_video": false, + "keep_all_videos": false, + "video_skip": 5, + "rollout": { + "enabled": false, + "n": 50, + "horizon": 400, + "rate": 50, + "warmstart": 0, + "terminate_on_success": true + } + }, + "train": { + "data": "datasets/mimic_dataset_res_200_2k_final.hdf5", + "output_dir": "/home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0", + "num_data_workers": 4, + "hdf5_cache_mode": "low_dim", + "hdf5_use_swmr": true, + "hdf5_load_next_obs": false, + "hdf5_normalize_obs": false, + "hdf5_filter_key": null, + "hdf5_validation_filter_key": null, + "seq_length": 10, + "pad_seq_length": true, + "frame_stack": 1, + "pad_frame_stack": true, + "dataset_keys": [ + "actions", + "rewards", + "dones" + ], + "goal_mode": null, + "cuda": true, + "batch_size": 16, + "num_epochs": 600, + "seed": 101 + }, + "algo": { + "optim_params": { + "policy": { + "optimizer_type": "adam", + "learning_rate": { + "initial": 0.0001, + "decay_factor": 0.1, + "epoch_schedule": [], + "scheduler_type": "multistep" + }, + "regularization": { + "L2": 0.0 + } + } + }, + "loss": { + "l2_weight": 1.0, + "l1_weight": 0.0, + "cos_weight": 0.0 + }, + "actor_layer_dims": [], + "gaussian": { + "enabled": false, + "fixed_std": false, + "init_std": 0.1, + "min_std": 0.01, + "std_activation": "softplus", + "low_noise_eval": true + }, + "gmm": { + "enabled": true, + "num_modes": 5, + "min_std": 0.0001, + "std_activation": "softplus", + "low_noise_eval": true + }, + "vae": { + "enabled": false, + "latent_dim": 14, + "latent_clip": null, + "kl_weight": 1.0, + "decoder": { + "is_conditioned": true, + "reconstruction_sum_across_elements": false + }, + "prior": { + "learn": false, + "is_conditioned": false, + "use_gmm": false, + "gmm_num_modes": 10, + "gmm_learn_weights": false, + "use_categorical": false, + "categorical_dim": 10, + "categorical_gumbel_softmax_hard": false, + "categorical_init_temp": 1.0, + "categorical_temp_anneal_step": 0.001, + "categorical_min_temp": 0.3 + }, + "encoder_layer_dims": [ + 300, + 400 + ], + "decoder_layer_dims": [ + 300, + 400 + ], + "prior_layer_dims": [ + 300, + 400 + ] + }, + "rnn": { + "enabled": true, + "horizon": 10, + "hidden_dim": 1000, + "rnn_type": "LSTM", + "num_layers": 2, + "open_loop": false, + "kwargs": { + "bidirectional": false + } + }, + "transformer": { + "enabled": false, + "context_length": 10, + "embed_dim": 512, + "num_layers": 6, + "num_heads": 8, + "emb_dropout": 0.1, + "attn_dropout": 0.1, + "block_output_dropout": 0.1, + "sinusoidal_embedding": false, + "activation": "gelu", + "supervise_all_steps": false, + "nn_parameter_for_timesteps": true + } + }, + "observation": { + "modalities": { + "obs": { + "low_dim": [ + "eef_pos", + "eef_quat", + "gripper_pos" + ], + "rgb": [ + "table_cam" + ], + "depth": [], + "scan": [] + }, + "goal": { + "low_dim": [], + "rgb": [], + "depth": [], + "scan": [] + } + }, + "encoder": { + "low_dim": { + "core_class": null, + "core_kwargs": {}, + "obs_randomizer_class": null, + "obs_randomizer_kwargs": {} + }, + "rgb": { + "core_class": "VisualCore", + "core_kwargs": { + "feature_dimension": 64, + "flatten": true, + "backbone_class": "ResNet18Conv", + "backbone_kwargs": { + "pretrained": false, + "input_coord_conv": false + }, + "pool_class": "SpatialSoftmax", + "pool_kwargs": { + "num_kp": 32, + "learnable_temperature": false, + "temperature": 1.0, + "noise_std": 0.0, + "output_variance": false + } + }, + "obs_randomizer_class": "CropRandomizer", + "obs_randomizer_kwargs": { + "crop_height": 180, + "crop_width": 180, + "num_crops": 1, + "pos_enc": false + } + }, + "depth": { + "core_class": "VisualCore", + "core_kwargs": {}, + "obs_randomizer_class": null, + "obs_randomizer_kwargs": {} + }, + "scan": { + "core_class": "ScanCore", + "core_kwargs": {}, + "obs_randomizer_class": null, + "obs_randomizer_kwargs": {} + } + } + }, + "meta": { + "hp_base_config_file": null, + "hp_keys": [], + "hp_values": [] + } +} \ No newline at end of file diff --git a/robomimic_bc_rnn_visuomotor_models/franka_stack_mimic_cosmos_2k_table_only/20250423163314/logs/log.txt b/robomimic_bc_rnn_visuomotor_models/franka_stack_mimic_cosmos_2k_table_only/20250423163314/logs/log.txt new file mode 100644 index 0000000000000000000000000000000000000000..75c706bb093ea407b200b01278af8fc32dcc86a4 --- /dev/null +++ b/robomimic_bc_rnn_visuomotor_models/franka_stack_mimic_cosmos_2k_table_only/20250423163314/logs/log.txt @@ -0,0 +1,9748 @@ + +============= Initialized Observation Utils with Obs Spec ============= + +using obs modality: low_dim with keys: ['gripper_pos', 'eef_pos', 'eef_quat'] +using obs modality: rgb with keys: ['table_cam'] +using obs modality: depth with keys: [] +using obs modality: scan with keys: [] + +============= Loaded Environment Metadata ============= +obs key eef_pos with shape (3,) +obs key eef_quat with shape (4,) +obs key gripper_pos with shape (2,) +obs key table_cam with shape (200, 200, 3) + +/home/shauryad/workspaces/omni_isaac_sim/_build/linux-x86_64/release/exts/omni.isaac.ml_archive/pip_prebundle/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and may be removed in the future, please use 'weights' instead. + warnings.warn( +/home/shauryad/workspaces/omni_isaac_sim/_build/linux-x86_64/release/exts/omni.isaac.ml_archive/pip_prebundle/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and may be removed in the future. The current behavior is equivalent to passing `weights=None`. + warnings.warn(msg) + +============= Model Summary ============= +ObservationKeyToModalityDict: mean not found, adding mean to mapping with assumed low_dim modality! +ObservationKeyToModalityDict: scale not found, adding scale to mapping with assumed low_dim modality! +ObservationKeyToModalityDict: logits not found, adding logits to mapping with assumed low_dim modality! +BC_RNN_GMM ( + ModuleDict( + (policy): RNNGMMActorNetwork( + action_dim=7, std_activation=softplus, low_noise_eval=True, num_nodes=5, min_std=0.0001 + + encoder=ObservationGroupEncoder( + group=obs + ObservationEncoder( + Key( + name=eef_pos + shape=[3] + modality=low_dim + randomizer=None + net=None + sharing_from=None + ) + Key( + name=eef_quat + shape=[4] + modality=low_dim + randomizer=None + net=None + sharing_from=None + ) + Key( + name=gripper_pos + shape=[2] + modality=low_dim + randomizer=None + net=None + sharing_from=None + ) + Key( + name=table_cam + shape=[3, 200, 200] + modality=rgb + randomizer=CropRandomizer(input_shape=[3, 200, 200], crop_size=[180, 180], num_crops=1) + net=VisualCore( + input_shape=[3, 180, 180] + output_shape=[64] + backbone_net=ResNet18Conv(input_channel=3, input_coord_conv=False) + pool_net=SpatialSoftmax(num_kp=32, temperature=1.0, noise=0.0) + ) + sharing_from=None + ) + output_shape=[73] + ) + ) + + rnn=RNN_Base( + (per_step_net): ObservationDecoder( + Key( + name=mean + shape=(5, 7) + modality=low_dim + net=(Linear(in_features=1000, out_features=35, bias=True)) + ) + Key( + name=scale + shape=(5, 7) + modality=low_dim + net=(Linear(in_features=1000, out_features=35, bias=True)) + ) + Key( + name=logits + shape=(5,) + modality=low_dim + net=(Linear(in_features=1000, out_features=5, bias=True)) + ) + ) + (nets): LSTM(73, 1000, num_layers=2, batch_first=True) + ) + ) + ) +) + +SequenceDataset: loading dataset into memory... + 0%| | 0/2000 [00:00