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train_trajectory_calvin_nohistory.sh
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main_dir=Planner_Calvin
dataset=./data/calvin/packaged_ABC_D/training
valset=./data/calvin/packaged_ABC_D/validation
lr=3e-4
wd=5e-3
dense_interpolation=1
interpolation_length=20
num_history=1
diffusion_timesteps=25
B=30
C=192
ngpus=6
backbone=clip
image_size="256,256"
relative_action=1
fps_subsampling_factor=3
lang_enhanced=1
gripper_loc_bounds=tasks/calvin_rel_traj_location_bounds_task_ABC_D.json
gripper_buffer=0.01
val_freq=5000
quaternion_format=wxyz
run_log_dir=diffusion_taskABC_D-C$C-B$B-lr$lr-DI$dense_interpolation-$interpolation_length-H$num_history-DT$diffusion_timesteps-backbone$backbone-S$image_size-R$relative_action-wd$wd
export PYTHONPATH=`pwd`:$PYTHONPATH
CUDA_LAUNCH_BLOCKING=1 torchrun --nproc_per_node $ngpus --master_port $RANDOM \
main_trajectory_calvin.py \
--tasks A B C D\
--backbone $backbone \
--dataset $dataset \
--valset $valset \
--instructions instructions/calvin_task_ABC_D/ \
--gripper_loc_bounds $gripper_loc_bounds \
--gripper_loc_bounds_buffer $gripper_buffer \
--image_size $image_size \
--num_workers 4 \
--max_episode_length 30 \
--train_iters 600000 \
--embedding_dim $C \
--use_instruction 1 \
--rotation_parametrization 6D \
--diffusion_timesteps $diffusion_timesteps \
--val_freq $val_freq \
--val_iters 2 \
--dense_interpolation $dense_interpolation \
--interpolation_length $interpolation_length \
--exp_log_dir $main_dir \
--batch_size $B \
--batch_size_val 3 \
--cache_size 0 \
--cache_size_val 0 \
--keypose_only 0 \
--variations {0..0} \
--lr $lr\
--wd $wd \
--num_history $num_history \
--cameras front wrist \
--max_episodes_per_task -1 \
--relative_action $relative_action \
--fps_subsampling_factor $fps_subsampling_factor \
--lang_enhanced $lang_enhanced \
--quaternion_format $quaternion_format \
--run_log_dir $run_log_dir
torchrun --nproc_per_node $ngpus --master_port $RANDOM \
online_evaluation_calvin/evaluate_policy.py \
--calvin_dataset_path calvin/dataset/task_ABC_D \
--calvin_model_path calvin/calvin_models \
--text_encoder clip \
--text_max_length 16 \
--tasks A B C D\
--backbone $backbone \
--gripper_loc_bounds $gripper_loc_bounds \
--gripper_loc_bounds_buffer $gripper_buffer \
--calvin_gripper_loc_bounds calvin/dataset/task_ABC_D/validation/statistics.yaml \
--embedding_dim $C \
--action_dim 7 \
--use_instruction 1 \
--rotation_parametrization 6D \
--diffusion_timesteps $diffusion_timesteps \
--interpolation_length $interpolation_length \
--num_history $num_history \
--relative_action $relative_action \
--fps_subsampling_factor $fps_subsampling_factor \
--lang_enhanced $lang_enhanced \
--save_video 0 \
--base_log_dir train_logs/${main_dir}/${run_log_dir}/eval_logs/ \
--quaternion_format $quaternion_format \
--checkpoint train_logs/${main_dir}/${run_log_dir}/last.pth