diff --git a/configs/commands/rlbench/_default/train_taxpose_tc.yaml b/configs/commands/rlbench/_default/train_taxpose_tc.yaml new file mode 100644 index 0000000..2346c3c --- /dev/null +++ b/configs/commands/rlbench/_default/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: DEFAULT + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/final.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/final.yaml new file mode 100644 index 0000000..4168b83 --- /dev/null +++ b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/final.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: pick_and_lift + - override /phase: final + - _self_ diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/grasp.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/grasp.yaml new file mode 100644 index 0000000..9e0c08b --- /dev/null +++ b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/grasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: pick_and_lift + - override /phase: grasp + - _self_ diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/lift.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/lift.yaml new file mode 100644 index 0000000..2de7e1f --- /dev/null +++ b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/lift.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: pick_and_lift + - override /phase: lift + - _self_ diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..a474b06 --- /dev/null +++ b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,33 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating pregrasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_pick_and_lift $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_pick_and_lift $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating grasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_pick_and_lift $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_pick_and_lift $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating lift' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_pick_and_lift $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_pick_and_lift $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating final' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/final data_root=/data wandb.group=rlbench_pick_and_lift $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/final data_root=/data wandb.group=rlbench_pick_and_lift $@ diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/pregrasp.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/pregrasp.yaml new file mode 100644 index 0000000..7f5d8b1 --- /dev/null +++ b/configs/commands/rlbench/pick_and_lift/taxpose_tc/precision_eval/pregrasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: pick_and_lift + - override /phase: pregrasp + - _self_ diff --git a/configs/commands/rlbench/pick_and_lift/train_taxpose_tc.yaml b/configs/commands/rlbench/pick_and_lift/train_taxpose_tc.yaml new file mode 100644 index 0000000..0877e6d --- /dev/null +++ b/configs/commands/rlbench/pick_and_lift/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: pick_and_lift + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/grasp.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/grasp.yaml new file mode 100644 index 0000000..3205b9f --- /dev/null +++ b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/grasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: pick_up_cup + - override /phase: grasp + - _self_ diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/lift.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/lift.yaml new file mode 100644 index 0000000..1a839ec --- /dev/null +++ b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/lift.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: pick_up_cup + - override /phase: lift + - _self_ diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..09245a9 --- /dev/null +++ b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,26 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating pregrasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_pick_up_cup $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_pick_up_cup $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating grasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_pick_up_cup $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_pick_up_cup $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating lift' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_pick_up_cup $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_pick_up_cup $@ diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/pregrasp.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/pregrasp.yaml new file mode 100644 index 0000000..b3e2573 --- /dev/null +++ b/configs/commands/rlbench/pick_up_cup/taxpose_tc/precision_eval/pregrasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: pick_up_cup + - override /phase: pregrasp + - _self_ diff --git a/configs/commands/rlbench/pick_up_cup/train_taxpose_tc.yaml b/configs/commands/rlbench/pick_up_cup/train_taxpose_tc.yaml new file mode 100644 index 0000000..0438787 --- /dev/null +++ b/configs/commands/rlbench/pick_up_cup/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: pick_up_cup + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/postpush.yaml b/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/postpush.yaml new file mode 100644 index 0000000..046dc9d --- /dev/null +++ b/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/postpush.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: push_button + - override /phase: postpush + - _self_ diff --git a/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..4aaa28d --- /dev/null +++ b/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,19 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating prepush' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/push_button/taxpose_tc/precision_eval/prepush data_root=/data wandb.group=rlbench_push_button $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/push_button/taxpose_tc/precision_eval/prepush data_root=/data wandb.group=rlbench_push_button $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating postpush' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/push_button/taxpose_tc/precision_eval/postpush data_root=/data wandb.group=rlbench_push_button $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/push_button/taxpose_tc/precision_eval/postpush data_root=/data wandb.group=rlbench_push_button $@ diff --git a/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/prepush.yaml b/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/prepush.yaml new file mode 100644 index 0000000..f10fa6c --- /dev/null +++ b/configs/commands/rlbench/push_button/taxpose_tc/precision_eval/prepush.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: push_button + - override /phase: prepush + - _self_ diff --git a/configs/commands/rlbench/push_button/train_taxpose_tc.yaml b/configs/commands/rlbench/push_button/train_taxpose_tc.yaml new file mode 100644 index 0000000..c380662 --- /dev/null +++ b/configs/commands/rlbench/push_button/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: push_button + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/grasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/grasp.yaml new file mode 100644 index 0000000..1d3e3ab --- /dev/null +++ b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/grasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_knife_on_chopping_board + - override /phase: grasp + - _self_ diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/lift.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/lift.yaml new file mode 100644 index 0000000..458109d --- /dev/null +++ b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/lift.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_knife_on_chopping_board + - override /phase: lift + - _self_ diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/place.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/place.yaml new file mode 100644 index 0000000..e2cded6 --- /dev/null +++ b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/place.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_knife_on_chopping_board + - override /phase: place + - _self_ diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..022219b --- /dev/null +++ b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,33 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating pregrasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating grasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating lift' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating place' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_put_knife_on_chopping_board $@ diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/pregrasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/pregrasp.yaml new file mode 100644 index 0000000..cc83bf9 --- /dev/null +++ b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_tc/precision_eval/pregrasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_knife_on_chopping_board + - override /phase: pregrasp + - _self_ diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_tc.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_tc.yaml new file mode 100644 index 0000000..4048dcb --- /dev/null +++ b/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: put_knife_on_chopping_board + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/grasp.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/grasp.yaml new file mode 100644 index 0000000..5e13abe --- /dev/null +++ b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/grasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_money_in_safe + - override /phase: grasp + - _self_ diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/lift.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/lift.yaml new file mode 100644 index 0000000..ae0d5b9 --- /dev/null +++ b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/lift.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_money_in_safe + - override /phase: lift + - _self_ diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/place.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/place.yaml new file mode 100644 index 0000000..3f2dc98 --- /dev/null +++ b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/place.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_money_in_safe + - override /phase: place + - _self_ diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..7e5925d --- /dev/null +++ b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,40 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating pregrasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_put_money_in_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_put_money_in_safe $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating grasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_put_money_in_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_put_money_in_safe $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating lift' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_put_money_in_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_put_money_in_safe $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating preplace' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/preplace data_root=/data wandb.group=rlbench_put_money_in_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/preplace data_root=/data wandb.group=rlbench_put_money_in_safe $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating place' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_put_money_in_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_put_money_in_safe $@ diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/pregrasp.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/pregrasp.yaml new file mode 100644 index 0000000..5bebc6b --- /dev/null +++ b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/pregrasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_money_in_safe + - override /phase: pregrasp + - _self_ diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/preplace.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/preplace.yaml new file mode 100644 index 0000000..62f5604 --- /dev/null +++ b/configs/commands/rlbench/put_money_in_safe/taxpose_tc/precision_eval/preplace.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: put_money_in_safe + - override /phase: preplace + - _self_ diff --git a/configs/commands/rlbench/put_money_in_safe/train_taxpose_tc.yaml b/configs/commands/rlbench/put_money_in_safe/train_taxpose_tc.yaml new file mode 100644 index 0000000..0a4f353 --- /dev/null +++ b/configs/commands/rlbench/put_money_in_safe/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: put_money_in_safe + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/reach_target/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/reach_target/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..c32e521 --- /dev/null +++ b/configs/commands/rlbench/reach_target/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,12 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating reach' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/reach_target/taxpose_tc/precision_eval/reach data_root=/data wandb.group=rlbench_reach_target $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/reach_target/taxpose_tc/precision_eval/reach data_root=/data wandb.group=rlbench_reach_target $@ diff --git a/configs/commands/rlbench/reach_target/taxpose_tc/precision_eval/reach.yaml b/configs/commands/rlbench/reach_target/taxpose_tc/precision_eval/reach.yaml new file mode 100644 index 0000000..183e0cd --- /dev/null +++ b/configs/commands/rlbench/reach_target/taxpose_tc/precision_eval/reach.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: reach_target + - override /phase: reach + - _self_ diff --git a/configs/commands/rlbench/reach_target/train_taxpose_tc.yaml b/configs/commands/rlbench/reach_target/train_taxpose_tc.yaml new file mode 100644 index 0000000..61441f6 --- /dev/null +++ b/configs/commands/rlbench/reach_target/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: reach_target + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/postslide.yaml b/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/postslide.yaml new file mode 100644 index 0000000..b0f8cda --- /dev/null +++ b/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/postslide.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: slide_block_to_target + - override /phase: postslide + - _self_ diff --git a/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..662d49b --- /dev/null +++ b/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,19 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating preslide' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/preslide data_root=/data wandb.group=rlbench_slide_block_to_target $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/preslide data_root=/data wandb.group=rlbench_slide_block_to_target $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating postslide' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/postslide data_root=/data wandb.group=rlbench_slide_block_to_target $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/postslide data_root=/data wandb.group=rlbench_slide_block_to_target $@ diff --git a/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/preslide.yaml b/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/preslide.yaml new file mode 100644 index 0000000..4d5137f --- /dev/null +++ b/configs/commands/rlbench/slide_block_to_target/taxpose_tc/precision_eval/preslide.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: slide_block_to_target + - override /phase: preslide + - _self_ diff --git a/configs/commands/rlbench/slide_block_to_target/train_taxpose_tc.yaml b/configs/commands/rlbench/slide_block_to_target/train_taxpose_tc.yaml new file mode 100644 index 0000000..ddea9c0 --- /dev/null +++ b/configs/commands/rlbench/slide_block_to_target/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: slide_block_to_target + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/grasp.yaml b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/grasp.yaml new file mode 100644 index 0000000..8c2baa4 --- /dev/null +++ b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/grasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: stack_wine + - override /phase: grasp + - _self_ diff --git a/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/lift.yaml b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/lift.yaml new file mode 100644 index 0000000..abbdc93 --- /dev/null +++ b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/lift.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: stack_wine + - override /phase: lift + - _self_ diff --git a/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/place.yaml b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/place.yaml new file mode 100644 index 0000000..13523ed --- /dev/null +++ b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/place.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: stack_wine + - override /phase: place + - _self_ diff --git a/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..d4aec04 --- /dev/null +++ b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,40 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating pregrasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_stack_wine $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_stack_wine $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating grasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_stack_wine $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_stack_wine $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating lift' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_stack_wine $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_stack_wine $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating preplace' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/preplace data_root=/data wandb.group=rlbench_stack_wine $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/preplace data_root=/data wandb.group=rlbench_stack_wine $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating place' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_stack_wine $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_stack_wine $@ diff --git a/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/pregrasp.yaml b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/pregrasp.yaml new file mode 100644 index 0000000..766f6f2 --- /dev/null +++ b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/pregrasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: stack_wine + - override /phase: pregrasp + - _self_ diff --git a/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/preplace.yaml b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/preplace.yaml new file mode 100644 index 0000000..8184cfb --- /dev/null +++ b/configs/commands/rlbench/stack_wine/taxpose_tc/precision_eval/preplace.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: stack_wine + - override /phase: preplace + - _self_ diff --git a/configs/commands/rlbench/stack_wine/train_taxpose_tc.yaml b/configs/commands/rlbench/stack_wine/train_taxpose_tc.yaml new file mode 100644 index 0000000..e9b3999 --- /dev/null +++ b/configs/commands/rlbench/stack_wine/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: stack_wine + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/grasp.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/grasp.yaml new file mode 100644 index 0000000..b5b1ace --- /dev/null +++ b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/grasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: take_money_out_safe + - override /phase: grasp + - _self_ diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/lift.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/lift.yaml new file mode 100644 index 0000000..6fdfdc0 --- /dev/null +++ b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/lift.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: take_money_out_safe + - override /phase: lift + - _self_ diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/place.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/place.yaml new file mode 100644 index 0000000..6947dc6 --- /dev/null +++ b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/place.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: take_money_out_safe + - override /phase: place + - _self_ diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..990084e --- /dev/null +++ b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,33 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating pregrasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_take_money_out_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/pregrasp data_root=/data wandb.group=rlbench_take_money_out_safe $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating grasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_take_money_out_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_take_money_out_safe $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating lift' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_take_money_out_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_take_money_out_safe $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating place' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_take_money_out_safe $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/place data_root=/data wandb.group=rlbench_take_money_out_safe $@ diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/pregrasp.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/pregrasp.yaml new file mode 100644 index 0000000..10b1e09 --- /dev/null +++ b/configs/commands/rlbench/take_money_out_safe/taxpose_tc/precision_eval/pregrasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: take_money_out_safe + - override /phase: pregrasp + - _self_ diff --git a/configs/commands/rlbench/take_money_out_safe/train_taxpose_tc.yaml b/configs/commands/rlbench/take_money_out_safe/train_taxpose_tc.yaml new file mode 100644 index 0000000..a60b818 --- /dev/null +++ b/configs/commands/rlbench/take_money_out_safe/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: take_money_out_safe + - override /phase: all + - _self_ diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/grasp.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/grasp.yaml new file mode 100644 index 0000000..70e6d81 --- /dev/null +++ b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/grasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: take_umbrella_out_of_umbrella_stand + - override /phase: grasp + - _self_ diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/lift.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/lift.yaml new file mode 100644 index 0000000..0e7aabb --- /dev/null +++ b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/lift.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: take_umbrella_out_of_umbrella_stand + - override /phase: lift + - _self_ diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/precision_eval.sh b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/precision_eval.sh new file mode 100755 index 0000000..a8db2b1 --- /dev/null +++ b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/precision_eval.sh @@ -0,0 +1,26 @@ +#!/bin/bash + +set -e + +echo 'Running precision eval' + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating pregasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/pregasp data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/pregasp data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating grasp' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/grasp data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand $@ + +echo "--------------------------------------------------------------------------------" +echo 'Evaluating lift' +echo "--------------------------------------------------------------------------------" +echo "python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand $@" + +python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/lift data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand $@ diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/pregasp.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/pregasp.yaml new file mode 100644 index 0000000..515b676 --- /dev/null +++ b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_tc/precision_eval/pregasp.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_eval_metrics@_here_ + - override /model: taxpose_tc + - override /task: take_umbrella_out_of_umbrella_stand + - override /phase: pregasp + - _self_ diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_tc.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_tc.yaml new file mode 100644 index 0000000..c38cffe --- /dev/null +++ b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_tc.yaml @@ -0,0 +1,8 @@ +# @package _global_ + +defaults: + - /commands/rlbench/_train@_here_ + - override /model: taxpose_tc + - override /task: take_umbrella_out_of_umbrella_stand + - override /phase: all + - _self_ diff --git a/configs/model/_taxpose.yaml b/configs/model/_taxpose.yaml index a80af22..74be5ee 100644 --- a/configs/model/_taxpose.yaml +++ b/configs/model/_taxpose.yaml @@ -22,6 +22,9 @@ mlat_nkps: null # But these could be RGB, symmetry features, etc. feature_channels: 0 +# Whether or not we want to include a conditioning vector to include a specific task. +conditional: False + pretraining: action: ckpt_path: null diff --git a/configs/model/taxpose_tc.yaml b/configs/model/taxpose_tc.yaml new file mode 100644 index 0000000..0f509c5 --- /dev/null +++ b/configs/model/taxpose_tc.yaml @@ -0,0 +1,6 @@ +defaults: + - _taxpose + +name: taxpose_tc + +conditional: True diff --git a/pyproject.toml b/pyproject.toml index 4690770..e397523 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -113,7 +113,7 @@ module = [ ignore_missing_imports = true [tool.pytest.ini_options] -addopts = "--ignore=third_party/ -m 'not training and not pretraining and not ablations'" +addopts = "--ignore=third_party/ -m 'not ndf_training and not pretraining and not ablations and not rlbench_training' -n 16" testpaths = "tests" [tool.pylint] diff --git a/scripts/eval_metrics.py b/scripts/eval_metrics.py index 2a7307c..3a8386b 100644 --- a/scripts/eval_metrics.py +++ b/scripts/eval_metrics.py @@ -11,7 +11,7 @@ from tqdm import tqdm from taxpose.datasets.point_cloud_data_module import MultiviewDataModule -from taxpose.nets.transformer_flow import ResidualFlow_DiffEmbTransformer +from taxpose.nets.transformer_flow import create_network from taxpose.training.flow_equivariance_training_module_nocentering import ( EquivarianceTrainingModule, ) @@ -101,19 +101,7 @@ def main(cfg): dm.setup(stage=cfg.split) - network = ResidualFlow_DiffEmbTransformer( - encoder_cfg=cfg.model.encoder, - cycle=cfg.model.cycle, - center_feature=cfg.model.center_feature, - pred_weight=cfg.model.pred_weight, - residual_on=cfg.model.residual_on, - freeze_embnn=cfg.model.freeze_embnn, - return_attn=cfg.model.return_attn, - multilaterate=cfg.model.multilaterate, - mlat_sample=cfg.model.mlat_sample, - mlat_nkps=cfg.model.mlat_nkps, - feature_channels=cfg.model.feature_channels, - ) + network = create_network(cfg.model) model = EquivarianceTrainingModule( model=network, @@ -175,12 +163,16 @@ def main(cfg): anchor_features = ( batch["anchor_features"].cuda() if "anchor_features" in batch else None ) + phase_onehot = ( + batch["phase_onehot"].cuda() if "phase_onehot" in batch else None + ) res = model( points_action_trans, points_anchor_trans, action_features, anchor_features, + phase_onehot, ) if "sampled_ixs_action" in res: diff --git a/scripts/generate_task_configs.py b/scripts/generate_task_configs.py index c53b48d..dffcda6 100644 --- a/scripts/generate_task_configs.py +++ b/scripts/generate_task_configs.py @@ -126,9 +126,9 @@ def generate_training_command_configs( make_dirs(commands_dir, dry_run=dry_run) - # Find and replace the string "DEFAULT" with the task name in the file train_taxpose_all.yaml. - default_file = os.path.join(default_dir, "train_taxpose_all.yaml") - task_file = os.path.join(commands_dir, "train_taxpose_all.yaml") + # Find and replace the string "DEFAULT" with the task name in the file train_taxpose_tc.yaml. + default_file = os.path.join(default_dir, "train_taxpose_tc.yaml") + task_file = os.path.join(commands_dir, "train_taxpose_tc.yaml") with open(default_file, "r") as f: contents = f.read() @@ -146,18 +146,18 @@ def generate_precision_eval_command_configs( make_dirs(commands_dir, dry_run=dry_run) # For each phase, create a file called "phase.yaml" in the taxpose directory, which is a copy of - # commands/rlbench/task_name/train_taxpose_all.yaml. Replace "_train" with "_eval", and replace + # commands/rlbench/task_name/train_taxpose_tc.yaml. Replace "_train" with "_eval", and replace # "/phase: all" with "/phase: phase". for phase in TASK_DICT[task_name]["phase_order"]: default_file = os.path.join( - config_root, "commands", "rlbench", task_name, "train_taxpose_all.yaml" + config_root, "commands", "rlbench", task_name, "train_taxpose_tc.yaml" ) task_file = os.path.join(commands_dir, f"{phase}.yaml") with open(default_file, "r") as f: contents = f.read() contents = contents.replace("DEFAULT", task_name) - contents = contents.replace("_train", "_eval") + contents = contents.replace("_train", "_eval_metrics") contents = contents.replace("/phase: all", f"/phase: {phase}") contents = contents.replace("/model: taxpose\n", f"/model: {method_name}\n") write_file(task_file, contents, dry_run=dry_run) @@ -172,9 +172,9 @@ def generate_rlbench_eval_command_configs( make_dirs(commands_dir, dry_run=dry_run) - # Copy the "train_taxpose_all.yaml" file from the task directory to the method directory. + # Copy the "train_taxpose_tc.yaml" file from the task directory to the method directory. default_file = os.path.join( - config_root, "commands", "rlbench", task_name, "train_taxpose_all.yaml" + config_root, "commands", "rlbench", task_name, "train_taxpose_tc.yaml" ) task_file = os.path.join(commands_dir, "eval_rlbench.yaml") @@ -192,8 +192,6 @@ def generate_rlbench_eval_command_configs( contents["model"]["num_points"] = contents["dm"]["train_dset"]["demo_dset"][ "num_points" ] - contents["model"]["z_offset"] = 0.0 - contents["model"]["break_symmetry"] = contents["break_symmetry"] # Write the contents back to the file. contents_str = yaml.dump(contents) @@ -242,104 +240,38 @@ def generate_precision_eval_script( os.chmod(script_file, 0o777) -def generate_checkpoint_configs( - task_name: str, config_root: str, method_name: str, dry_run: bool = False -): - checkpoint_dir = os.path.join(config_root, "checkpoints", "rlbench", task_name) - - make_dirs(checkpoint_dir, dry_run=dry_run) - make_dirs(os.path.join(checkpoint_dir, "pretraining"), dry_run=dry_run) - - # Create empty files for the pretraining checkpoints. - for phase in TASK_DICT[task_name]["phase_order"] + ["all"]: - phase_file = os.path.join(checkpoint_dir, "pretraining", f"{phase}.yaml") - write_file(phase_file, "", dry_run=dry_run) - - -def generate_method_checkpoint_configs( - task_name: str, config_root: str, method_name: str, dry_run: bool = False -): - checkpoint_dir = os.path.join(config_root, "checkpoints", "rlbench", task_name) - - # Create a method folder in the task directory. - method_dir = os.path.join(checkpoint_dir, method_name) - make_dirs(method_dir, dry_run=dry_run) - - # For each phase, create a file called "phase.yaml" in the method directory. - for phase in TASK_DICT[task_name]["phase_order"]: - phase_file = os.path.join(method_dir, f"{phase}.yaml") - # contents = {"ckpt_file": "r-pad/taxpose/model-???:v0"} - contents = { - "defaults": [ - f"/checkpoints/rlbench/{task_name}/{method_name}/_model@_here_" - ] - } - contents = yaml.dump(contents) - - # Prepend the contents with "# @package checkpoints.{task_name}.{method_name}". - # contents = ( - # f"# @package checkpoints.rlbench.{task_name}.{method_name}\n\n" + contents - # ) - write_file(phase_file, contents, dry_run=dry_run, overwrite=True) - - # Create a file called _model.yaml - model_file = os.path.join(method_dir, "_model.yaml") - contents = {"ckpt_file": f"r-pad/{method_name}/model-???:v0"} - contents = yaml.dump(contents) - write_file(model_file, contents, dry_run=dry_run, overwrite=False) - - # Create a file called method_name in the task directory. - method_file = os.path.join(checkpoint_dir, f"{method_name}.yaml") - contents = { - "defaults": [ - {f"{task_name}/{method_name}@{phase}": phase} - for phase in TASK_DICT[task_name]["phase_order"] - ] - } - contents_str = yaml.dump(contents) - write_file(method_file, contents_str, dry_run=dry_run) - - def main( task_names: List[str], dry_run: bool = False, - evals: bool = True, - model_cfgs: bool = True, + training_cfgs: bool = True, + rlbench_eval: bool = True, ): for task_name in task_names: print(f"Generating task configs for {task_name}") config_root = "configs" - if not evals: + if not training_cfgs: generate_task_configs(task_name, config_root, dry_run=dry_run) generate_dataset_configs(task_name, config_root, dry_run=dry_run) - if model_cfgs: - generate_training_command_configs( - task_name, config_root, dry_run=dry_run - ) - - generate_checkpoint_configs( - task_name, config_root, "taxpose_all", dry_run=dry_run - ) - else: - generate_method_checkpoint_configs( - task_name, config_root, "taxpose_all", dry_run=dry_run - ) + generate_training_command_configs(task_name, config_root, dry_run=dry_run) + generate_precision_eval_command_configs( - task_name, config_root, "taxpose_all", dry_run=dry_run + task_name, config_root, "taxpose_tc", dry_run=dry_run ) generate_precision_eval_script( - task_name, config_root, "taxpose_all", dry_run=dry_run + task_name, config_root, "taxpose_tc", dry_run=dry_run ) - generate_rlbench_eval_command_configs( - task_name, config_root, "taxpose_all", dry_run=dry_run - ) + if rlbench_eval: + + generate_rlbench_eval_command_configs( + task_name, config_root, "taxpose_tc", dry_run=dry_run + ) if __name__ == "__main__": diff --git a/taxpose/datasets/base.py b/taxpose/datasets/base.py index 1a0c096..b3bddb0 100644 --- a/taxpose/datasets/base.py +++ b/taxpose/datasets/base.py @@ -11,7 +11,7 @@ class PlacementPointCloudData(TypedDict): anchor_symmetry_features: Optional[npt.NDArray[np.float32]] # (1, num_points, 1) action_symmetry_rgb: Optional[npt.NDArray[np.uint8]] # (1, num_points, 3) anchor_symmetry_rgb: Optional[npt.NDArray[np.uint8]] # (1, num_points, 3) - phase: Optional[npt.NDArray[np.int32]] # (1,) + phase: Optional[str] phase_onehot: Optional[npt.NDArray[np.float32]] # (1, num_phases) diff --git a/taxpose/datasets/point_cloud_dataset.py b/taxpose/datasets/point_cloud_dataset.py index db98eb2..6ea171e 100644 --- a/taxpose/datasets/point_cloud_dataset.py +++ b/taxpose/datasets/point_cloud_dataset.py @@ -67,6 +67,7 @@ def __getitem__(self, index): data = self.dataset[data_ix] points_action = torch.from_numpy(data["points_action"]) points_anchor = torch.from_numpy(data["points_anchor"]) + phase_onehot = torch.from_numpy(data["phase_onehot"]) T0 = random_se3( 1, @@ -94,6 +95,7 @@ def __getitem__(self, index): "points_anchor_trans": points_anchor_trans.squeeze(0), "T0": T0.get_matrix().squeeze(0), "T1": T1.get_matrix().squeeze(0), + "phase_onehot": phase_onehot, } # Handle the extra features. diff --git a/taxpose/datasets/rlbench.py b/taxpose/datasets/rlbench.py index 7c5e052..8155720 100644 --- a/taxpose/datasets/rlbench.py +++ b/taxpose/datasets/rlbench.py @@ -1,7 +1,7 @@ import functools from dataclasses import dataclass from pathlib import Path -from typing import ClassVar, Dict, List, Literal, Optional, Tuple, Union +from typing import ClassVar, Dict, List, Literal, Optional, Tuple, Union, cast import numpy as np import numpy.typing as npt @@ -386,7 +386,7 @@ def __getitem__(self, index: int) -> PlacementPointCloudData: assert len(action_symmetry_rgb.shape) == 3 assert len(anchor_symmetry_rgb.shape) == 3 - phase = data["phase"].numpy().astype(np.float32) + phase = cast(str, data["phase"]) phase_onehot = data["phase_onehot"].numpy().astype(np.float32) return { diff --git a/tests/train_test.py b/tests/train_test.py index 77f69cb..7822ba5 100644 --- a/tests/train_test.py +++ b/tests/train_test.py @@ -45,15 +45,17 @@ def _get_training_config_names(bmark, ablation=False): return configs -DEFAULT_NDF_PATH = "/data" +DEFAULT_DATA_PATH = "/data" +DEFAULT_RLBENCH_ROOT = "rlbench" -def _test_commands_run(config_name): +def _test_commands_run(config_name, bmark_dataset_root="ndf"): dataset_root = ( - os.environ["NDF_DATASET_ROOT"] - if "NDF_DATASET_ROOT" in os.environ - else DEFAULT_NDF_PATH + os.environ["DEFAULT_DATA_PATH"] + if "DEFAULT_DATA_PATH" in os.environ + else DEFAULT_DATA_PATH ) + bmark_dataset_root = os.path.join(dataset_root, bmark_dataset_root) torch.multiprocessing.set_sharing_strategy("file_system") with initialize(version_base=None, config_path="../configs"): @@ -65,6 +67,7 @@ def _test_commands_run(config_name): "hydra.runtime.output_dir=.", "seed=1234", f"data_root={dataset_root}", + f"benchmark.dataset_root={bmark_dataset_root}", "training.batch_size=2", ], return_hydra_config=True, @@ -79,26 +82,33 @@ def _test_commands_run(config_name): # Skip this if the environment variable is not set or the path does not exist. -@pytest.mark.training +@pytest.mark.ndf_training @pytest.mark.skipif( - ("NDF_DATASET_ROOT" not in os.environ or not os.path.exists(DEFAULT_NDF_PATH)) + ("DEFAULT_DATA_PATH" not in os.environ or not os.path.exists(DEFAULT_DATA_PATH)) and not torch.cuda.is_available(), - reason="NDF_DATASET_ROOT environment variable is not set or the path does not exist.", + reason="DEFAULT_DATA_PATH environment variable is not set or the path does not exist.", ) @pytest.mark.parametrize("config_name", _get_training_config_names("ndf")) -def test_training_commands_run(config_name): - _test_commands_run(config_name) +def test_ndf_training_commands_run(config_name): + _test_commands_run(config_name, "ndf") # Do the same for the ablation configs. @pytest.mark.ablations @pytest.mark.skipif( - ("NDF_DATASET_ROOT" not in os.environ or not os.path.exists(DEFAULT_NDF_PATH)) + ("DEFAULT_DATA_PATH" not in os.environ or not os.path.exists(DEFAULT_DATA_PATH)) and not torch.cuda.is_available(), - reason="NDF_DATASET_ROOT environment variable is not set or the path does not exist.", + reason="DEFAULT_DATA_PATH environment variable is not set or the path does not exist.", ) @pytest.mark.parametrize( "config_name", _get_training_config_names("ndf", ablation=True) ) def test_training_ablation_commands_run(config_name): - _test_commands_run(config_name) + _test_commands_run(config_name, "ndf") + + +# Skip this if the environment variable is not set or the path does not exist. +@pytest.mark.rlbench_training +@pytest.mark.parametrize("config_name", _get_training_config_names("rlbench")) +def test_rlbench_training_commands_run(config_name): + _test_commands_run(config_name, DEFAULT_RLBENCH_ROOT)