From 9b7377032f5f60988741b485837e8faa66c9519c Mon Sep 17 00:00:00 2001 From: Ben Eisner Date: Thu, 2 May 2024 01:36:02 -0400 Subject: [PATCH] remove unrelated configs --- Dockerfile | 203 +--- README.md | 54 +- autobot.md | 48 - configs/benchmark/real_world_mug.yaml | 2 - configs/benchmark/rlbench.yaml | 2 - .../ablations/se3_augmentation/_base.yaml | 16 - .../eval_mlat_mug_arbitrary.yaml | 11 - .../eval_taxpose_mug_arbitrary.yaml | 11 - .../train_mlat_mug_grasp.yaml | 8 - .../train_mlat_mug_place.yaml | 8 - .../train_taxpose_mug_grasp.yaml | 8 - .../train_taxpose_mug_place.yaml | 8 - configs/commands/rlbench/README.md | 7 - .../rlbench/_default/train_taxpose_all.yaml | 18 - configs/commands/rlbench/_eval.yaml | 5 - configs/commands/rlbench/_train.yaml | 25 - .../evals/mlat_stack_wine_place_1.yaml | 36 - .../evals/mlat_stack_wine_place_10.yaml | 36 - .../evals/mlat_stack_wine_place_5.yaml | 36 - .../evals/taxpose_stack_wine_place_1.yaml | 36 - .../evals/taxpose_stack_wine_place_10.yaml | 36 - .../evals/taxpose_stack_wine_place_5.yaml | 36 - .../train_mlat_stack_wine_place_1.yaml | 23 - .../train_mlat_stack_wine_place_10.yaml | 32 - .../train_mlat_stack_wine_place_5.yaml | 29 - .../train_taxpose_stack_wine_place_1.yaml | 23 - .../train_taxpose_stack_wine_place_10.yaml | 32 - .../train_taxpose_stack_wine_place_5.yaml | 27 - .../eval_mlat_place.yaml | 17 - .../eval_taxpose_place.yaml | 17 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/place.yaml | 18 - .../precision_eval/precision_eval.sh | 19 - .../train_mlat_place.yaml | 14 - .../train_taxpose_all.yaml | 18 - .../train_taxpose_grasp.yaml | 14 - .../train_taxpose_place.yaml | 14 - .../phone_on_base/eval_mlat_place.yaml | 17 - .../phone_on_base/eval_taxpose_place.yaml | 17 - .../taxpose_all/eval_rlbench.yaml | 12 - .../taxpose_all/precision_eval/grasp.yaml | 12 - .../taxpose_all/precision_eval/lift.yaml | 12 - .../taxpose_all/precision_eval/place.yaml | 12 - .../precision_eval/precision_eval.sh | 33 - .../taxpose_all/precision_eval/pregrasp.yaml | 12 - .../phone_on_base/train_mlat_place.yaml | 10 - .../phone_on_base/train_taxpose_all.yaml | 18 - .../phone_on_base/train_taxpose_grasp.yaml | 10 - .../phone_on_base/train_taxpose_place.yaml | 10 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/final.yaml | 19 - .../taxpose_all/precision_eval/grasp.yaml | 19 - .../taxpose_all/precision_eval/lift.yaml | 19 - .../precision_eval/precision_eval.sh | 33 - .../taxpose_all/precision_eval/pregrasp.yaml | 19 - .../pick_and_lift/train_taxpose_all.yaml | 18 - .../pick_up_cup/taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/lift.yaml | 18 - .../precision_eval/precision_eval.sh | 26 - .../taxpose_all/precision_eval/pregrasp.yaml | 18 - .../pick_up_cup/train_taxpose_all.yaml | 18 - .../place_hanger_on_rack/eval_mlat_place.yaml | 17 - .../eval_taxpose_place.yaml | 17 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/place.yaml | 18 - .../precision_eval/precision_eval.sh | 19 - .../train_mlat_place.yaml | 17 - .../train_taxpose_all.yaml | 18 - .../train_taxpose_grasp.yaml | 17 - .../train_taxpose_place.yaml | 17 - .../push_button/taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/postpush.yaml | 18 - .../precision_eval/precision_eval.sh | 19 - .../taxpose_all/precision_eval/prepush.yaml | 18 - .../push_button/train_taxpose_all.yaml | 18 - .../eval_rlbench_taxpose.yaml | 22 - .../eval_rlbench_taxpose_all.yaml | 21 - .../eval_taxpose_all_grasp.yaml | 19 - .../eval_taxpose_all_lift.yaml | 19 - .../eval_taxpose_all_place.yaml | 19 - .../eval_taxpose_all_pregrasp.yaml | 19 - .../eval_taxpose_grasp.yaml | 19 - .../eval_taxpose_lift.yaml | 19 - .../eval_taxpose_place.yaml | 19 - .../eval_taxpose_pregrasp.yaml | 19 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/lift.yaml | 18 - .../taxpose_all/precision_eval/place.yaml | 18 - .../precision_eval/precision_eval.sh | 33 - .../taxpose_all/precision_eval/pregrasp.yaml | 18 - .../train_taxpose_all.yaml | 18 - .../train_taxpose_grasp.yaml | 15 - .../train_taxpose_lift.yaml | 15 - .../train_taxpose_place.yaml | 15 - .../train_taxpose_pregrasp.yaml | 15 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/lift.yaml | 18 - .../taxpose_all/precision_eval/place.yaml | 18 - .../precision_eval/precision_eval.sh | 40 - .../taxpose_all/precision_eval/pregrasp.yaml | 18 - .../taxpose_all/precision_eval/preplace.yaml | 18 - .../put_money_in_safe/train_taxpose_all.yaml | 18 - .../eval_mlat_place.yaml | 14 - .../eval_taxpose_place.yaml | 14 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/place.yaml | 18 - .../precision_eval/precision_eval.sh | 19 - .../train_mlat_place.yaml | 10 - .../train_taxpose_all.yaml | 18 - .../train_taxpose_grasp.yaml | 10 - .../train_taxpose_place.yaml | 10 - .../eval_rlbench_taxpose_all.yaml | 13 - .../reach_target/eval_taxpose_all_reach.yaml | 13 - .../taxpose_all/eval_rlbench.yaml | 12 - .../precision_eval/precision_eval.sh | 12 - .../taxpose_all/precision_eval/reach.yaml | 14 - .../reach_target/train_taxpose_all.yaml | 18 - .../reach_target/train_taxpose_reach.yaml | 10 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/postslide.yaml | 18 - .../precision_eval/precision_eval.sh | 19 - .../taxpose_all/precision_eval/preslide.yaml | 18 - .../train_taxpose_all.yaml | 18 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/place.yaml | 18 - .../precision_eval/precision_eval.sh | 19 - .../solve_puzzle/train_mlat_place.yaml | 17 - .../solve_puzzle/train_taxpose_all.yaml | 18 - .../solve_puzzle/train_taxpose_place.yaml | 17 - .../rlbench/stack_wine/eval_mlat_place.yaml | 14 - .../stack_wine/eval_taxpose_place.yaml | 14 - .../stack_wine/taxpose_all/eval_rlbench.yaml | 12 - .../taxpose_all/precision_eval/grasp.yaml | 13 - .../taxpose_all/precision_eval/lift.yaml | 13 - .../taxpose_all/precision_eval/place.yaml | 13 - .../precision_eval/precision_eval.sh | 40 - .../taxpose_all/precision_eval/pregrasp.yaml | 13 - .../taxpose_all/precision_eval/preplace.yaml | 13 - .../rlbench/stack_wine/train_mlat_place.yaml | 10 - .../rlbench/stack_wine/train_taxpose_all.yaml | 18 - .../stack_wine/train_taxpose_grasp.yaml | 10 - .../stack_wine/train_taxpose_lift.yaml | 10 - .../stack_wine/train_taxpose_place.yaml | 10 - .../stack_wine/train_taxpose_pregrasp.yaml | 10 - .../stack_wine/train_taxpose_preplace.yaml | 10 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 18 - .../taxpose_all/precision_eval/lift.yaml | 18 - .../taxpose_all/precision_eval/place.yaml | 18 - .../precision_eval/precision_eval.sh | 33 - .../taxpose_all/precision_eval/pregrasp.yaml | 18 - .../train_taxpose_all.yaml | 18 - .../taxpose_all/eval_rlbench.yaml | 17 - .../taxpose_all/precision_eval/grasp.yaml | 19 - .../taxpose_all/precision_eval/lift.yaml | 19 - .../precision_eval/precision_eval.sh | 26 - .../taxpose_all/precision_eval/pregasp.yaml | 19 - .../taxpose_all/precision_eval/run_all.sh | 16 - .../train_taxpose_all.yaml | 18 - configs/dataset/real_world_mug/mug_place.yaml | 49 - configs/dataset/rlbench/_default.yaml | 57 - .../dataset/rlbench/_default/_default.yaml | 30 - configs/dataset/rlbench/_default/all.yaml | 3 - configs/dataset/rlbench/_default/reach.yaml | 3 - .../insert_onto_square_peg/_default.yaml | 30 - .../rlbench/insert_onto_square_peg/all.yaml | 3 - .../rlbench/insert_onto_square_peg/grasp.yaml | 3 - .../rlbench/insert_onto_square_peg/place.yaml | 3 - .../rlbench/insert_onto_square_peg_grasp.yaml | 31 - .../rlbench/insert_onto_square_peg_place.yaml | 31 - .../rlbench/phone_on_base/_default.yaml | 30 - .../dataset/rlbench/phone_on_base/all.yaml | 3 - .../dataset/rlbench/phone_on_base/grasp.yaml | 3 - .../dataset/rlbench/phone_on_base/lift.yaml | 3 - .../dataset/rlbench/phone_on_base/place.yaml | 3 - .../rlbench/phone_on_base/pregrasp.yaml | 3 - .../dataset/rlbench/phone_on_base_grasp.yaml | 30 - .../dataset/rlbench/phone_on_base_place.yaml | 30 - .../rlbench/pick_and_lift/_default.yaml | 125 -- .../dataset/rlbench/pick_and_lift/all.yaml | 3 - .../dataset/rlbench/pick_and_lift/final.yaml | 3 - .../dataset/rlbench/pick_and_lift/grasp.yaml | 3 - .../dataset/rlbench/pick_and_lift/lift.yaml | 3 - .../rlbench/pick_and_lift/pregrasp.yaml | 3 - .../dataset/rlbench/pick_up_cup/_default.yaml | 125 -- configs/dataset/rlbench/pick_up_cup/all.yaml | 3 - .../dataset/rlbench/pick_up_cup/grasp.yaml | 3 - configs/dataset/rlbench/pick_up_cup/lift.yaml | 3 - .../dataset/rlbench/pick_up_cup/pregrasp.yaml | 3 - .../place_hanger_on_rack/_default.yaml | 30 - .../rlbench/place_hanger_on_rack/all.yaml | 3 - .../rlbench/place_hanger_on_rack/grasp.yaml | 3 - .../rlbench/place_hanger_on_rack/place.yaml | 3 - .../rlbench/place_hanger_on_rack_grasp.yaml | 30 - .../rlbench/place_hanger_on_rack_place.yaml | 30 - .../dataset/rlbench/push_button/_default.yaml | 125 -- configs/dataset/rlbench/push_button/all.yaml | 3 - .../dataset/rlbench/push_button/postpush.yaml | 3 - .../dataset/rlbench/push_button/prepush.yaml | 3 - .../put_knife_on_chopping_board/_default.yaml | 125 -- .../put_knife_on_chopping_board/all.yaml | 3 - .../put_knife_on_chopping_board/grasp.yaml | 3 - .../put_knife_on_chopping_board/lift.yaml | 3 - .../put_knife_on_chopping_board/place.yaml | 3 - .../put_knife_on_chopping_board/pregrasp.yaml | 3 - .../rlbench/put_money_in_safe/_default.yaml | 125 -- .../rlbench/put_money_in_safe/all.yaml | 3 - .../rlbench/put_money_in_safe/grasp.yaml | 3 - .../rlbench/put_money_in_safe/lift.yaml | 3 - .../rlbench/put_money_in_safe/place.yaml | 3 - .../rlbench/put_money_in_safe/pregrasp.yaml | 3 - .../rlbench/put_money_in_safe/preplace.yaml | 3 - .../put_toilet_roll_on_stand/_default.yaml | 30 - .../rlbench/put_toilet_roll_on_stand/all.yaml | 3 - .../put_toilet_roll_on_stand/grasp.yaml | 3 - .../put_toilet_roll_on_stand/place.yaml | 3 - .../put_toilet_roll_on_stand_grasp.yaml | 30 - .../put_toilet_roll_on_stand_place.yaml | 30 - .../rlbench/reach_target/_default.yaml | 125 -- configs/dataset/rlbench/reach_target/all.yaml | 3 - .../dataset/rlbench/reach_target/reach.yaml | 3 - .../slide_block_to_target/_default.yaml | 125 -- .../rlbench/slide_block_to_target/all.yaml | 3 - .../slide_block_to_target/postslide.yaml | 3 - .../slide_block_to_target/preslide.yaml | 3 - .../rlbench/solve_puzzle/_default.yaml | 30 - configs/dataset/rlbench/solve_puzzle/all.yaml | 3 - .../dataset/rlbench/solve_puzzle/grasp.yaml | 3 - .../dataset/rlbench/solve_puzzle/place.yaml | 3 - .../dataset/rlbench/solve_puzzle_place.yaml | 30 - .../dataset/rlbench/stack_wine/_default.yaml | 125 -- configs/dataset/rlbench/stack_wine/all.yaml | 3 - configs/dataset/rlbench/stack_wine/grasp.yaml | 3 - configs/dataset/rlbench/stack_wine/lift.yaml | 3 - configs/dataset/rlbench/stack_wine/place.yaml | 3 - .../dataset/rlbench/stack_wine/pregrasp.yaml | 3 - .../dataset/rlbench/stack_wine/preplace.yaml | 3 - .../rlbench/take_money_out_safe/_default.yaml | 125 -- .../rlbench/take_money_out_safe/all.yaml | 3 - .../rlbench/take_money_out_safe/grasp.yaml | 3 - .../rlbench/take_money_out_safe/lift.yaml | 3 - .../rlbench/take_money_out_safe/place.yaml | 3 - .../rlbench/take_money_out_safe/pregrasp.yaml | 3 - .../_default.yaml | 125 -- .../all.yaml | 3 - .../grasp.yaml | 3 - .../lift.yaml | 3 - .../pregasp.yaml | 3 - configs/model/_mlat.yaml | 7 - configs/model/mlat_n256_ns.yaml | 9 - configs/model/mlat_s100.yaml | 8 - configs/model/mlat_s100_vnn.yaml | 10 - configs/model/mlat_s256.yaml | 8 - configs/model/mlat_s256_vnn.yaml | 10 - .../object_class/insert_onto_square_peg.yaml | 1 - configs/object_class/phone_on_base.yaml | 1 - .../object_class/place_hanger_on_rack.yaml | 1 - .../put_toilet_roll_on_stand.yaml | 1 - configs/object_class/solve_puzzle.yaml | 1 - configs/object_class/stack_wine.yaml | 1 - configs/task/rlbench/_default/phase/all.yaml | 5 - .../task/rlbench/_default/phase/pregrasp.yaml | 7 - configs/task/rlbench/_default/task.yaml | 4 - .../insert_onto_square_peg/phase/all.yaml | 7 - .../insert_onto_square_peg/phase/grasp.yaml | 7 - .../insert_onto_square_peg/phase/place.yaml | 7 - .../rlbench/insert_onto_square_peg/task.yaml | 4 - .../task/rlbench/phone_on_base/phase/all.yaml | 7 - .../rlbench/phone_on_base/phase/grasp.yaml | 7 - .../rlbench/phone_on_base/phase/lift.yaml | 7 - .../rlbench/phone_on_base/phase/place.yaml | 7 - .../rlbench/phone_on_base/phase/pregrasp.yaml | 7 - configs/task/rlbench/phone_on_base/task.yaml | 6 - .../task/rlbench/pick_and_lift/phase/all.yaml | 7 - .../rlbench/pick_and_lift/phase/final.yaml | 7 - .../rlbench/pick_and_lift/phase/grasp.yaml | 7 - .../rlbench/pick_and_lift/phase/lift.yaml | 7 - .../rlbench/pick_and_lift/phase/pregrasp.yaml | 7 - configs/task/rlbench/pick_and_lift/task.yaml | 6 - .../task/rlbench/pick_up_cup/phase/all.yaml | 7 - .../task/rlbench/pick_up_cup/phase/grasp.yaml | 7 - .../task/rlbench/pick_up_cup/phase/lift.yaml | 7 - .../rlbench/pick_up_cup/phase/pregrasp.yaml | 7 - configs/task/rlbench/pick_up_cup/task.yaml | 5 - .../place_hanger_on_rack/phase/all.yaml | 7 - .../place_hanger_on_rack/phase/grasp.yaml | 7 - .../place_hanger_on_rack/phase/place.yaml | 7 - .../rlbench/place_hanger_on_rack/task.yaml | 4 - .../task/rlbench/push_button/phase/all.yaml | 7 - .../rlbench/push_button/phase/postpush.yaml | 7 - .../rlbench/push_button/phase/prepush.yaml | 7 - configs/task/rlbench/push_button/task.yaml | 4 - .../phase/all.yaml | 7 - .../phase/grasp.yaml | 7 - .../phase/lift.yaml | 7 - .../phase/place.yaml | 7 - .../phase/pregrasp.yaml | 7 - .../put_knife_on_chopping_board/task.yaml | 6 - .../rlbench/put_money_in_safe/phase/all.yaml | 7 - .../put_money_in_safe/phase/grasp.yaml | 7 - .../rlbench/put_money_in_safe/phase/lift.yaml | 7 - .../put_money_in_safe/phase/place.yaml | 7 - .../put_money_in_safe/phase/pregrasp.yaml | 7 - .../put_money_in_safe/phase/preplace.yaml | 7 - .../task/rlbench/put_money_in_safe/task.yaml | 7 - .../put_toilet_roll_on_stand/phase/all.yaml | 7 - .../put_toilet_roll_on_stand/phase/grasp.yaml | 7 - .../put_toilet_roll_on_stand/phase/place.yaml | 7 - .../put_toilet_roll_on_stand/task.yaml | 4 - .../task/rlbench/reach_target/phase/all.yaml | 7 - .../rlbench/reach_target/phase/reach.yaml | 7 - configs/task/rlbench/reach_target/task.yaml | 3 - .../slide_block_to_target/phase/all.yaml | 7 - .../phase/postslide.yaml | 7 - .../slide_block_to_target/phase/preslide.yaml | 7 - .../rlbench/slide_block_to_target/task.yaml | 4 - .../task/rlbench/solve_puzzle/phase/all.yaml | 7 - .../rlbench/solve_puzzle/phase/grasp.yaml | 7 - .../rlbench/solve_puzzle/phase/place.yaml | 7 - configs/task/rlbench/solve_puzzle/task.yaml | 4 - .../task/rlbench/stack_wine/phase/all.yaml | 7 - .../task/rlbench/stack_wine/phase/grasp.yaml | 7 - .../task/rlbench/stack_wine/phase/lift.yaml | 7 - .../task/rlbench/stack_wine/phase/place.yaml | 7 - .../rlbench/stack_wine/phase/pregrasp.yaml | 7 - .../rlbench/stack_wine/phase/preplace.yaml | 7 - configs/task/rlbench/stack_wine/task.yaml | 7 - .../take_money_out_safe/phase/all.yaml | 7 - .../take_money_out_safe/phase/grasp.yaml | 7 - .../take_money_out_safe/phase/lift.yaml | 7 - .../take_money_out_safe/phase/place.yaml | 7 - .../take_money_out_safe/phase/pregrasp.yaml | 7 - .../rlbench/take_money_out_safe/task.yaml | 6 - .../phase/all.yaml | 7 - .../phase/grasp.yaml | 7 - .../phase/lift.yaml | 7 - .../phase/pregasp.yaml | 7 - .../task.yaml | 5 - convert_demos_to_mp4.sh | 37 - convert_episodes.sh | 70 -- convert_episodes_ffvi.sh | 70 -- copy_rlbench_and_unzip.sh | 12 - docker/entrypoint.sh | 26 - launch.sh | 121 -- pyproject.toml | 8 +- scripts/README.md | 352 +----- scripts/create_rlbench_dataset.py | 41 - scripts/debug_headless.py | 26 - scripts/eval_rlbench.py | 1041 ----------------- scripts/generate_task_configs.py | 338 ------ scripts/get_results.py | 77 +- scripts/merge_table.py | 40 - scripts/new_version.py | 200 ---- scripts/old_version.py | 155 --- scripts/reupload_artifact.py | 10 - scripts/run_rlbench10_rollouts.sh | 37 - scripts/train_eval.sh | 46 - taxpose/datasets/real_world_mug.py | 103 -- taxpose/datasets/rlbench.py | 387 ------ taxpose/models/reasoning.py | 0 taxpose/models/taxpose_reasoning.py | 278 ----- taxpose/training/taxpose_inference.py | 76 -- taxpose/utils/compile_result.py | 39 - taxpose/utils/multilateration.py | 40 - taxpose/utils/website.py | 84 -- tests/config_test.py | 26 - unconvert_demos_to_mp4.sh | 35 - 374 files changed, 80 insertions(+), 9450 deletions(-) delete mode 100644 autobot.md delete mode 100644 configs/benchmark/real_world_mug.yaml delete mode 100644 configs/benchmark/rlbench.yaml delete mode 100644 configs/commands/ablations/se3_augmentation/_base.yaml delete mode 100644 configs/commands/ablations/se3_augmentation/eval_mlat_mug_arbitrary.yaml delete mode 100644 configs/commands/ablations/se3_augmentation/eval_taxpose_mug_arbitrary.yaml delete mode 100644 configs/commands/ablations/se3_augmentation/train_mlat_mug_grasp.yaml delete mode 100644 configs/commands/ablations/se3_augmentation/train_mlat_mug_place.yaml delete mode 100644 configs/commands/ablations/se3_augmentation/train_taxpose_mug_grasp.yaml delete mode 100644 configs/commands/ablations/se3_augmentation/train_taxpose_mug_place.yaml delete mode 100644 configs/commands/rlbench/README.md delete mode 100644 configs/commands/rlbench/_default/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/_eval.yaml delete mode 100644 configs/commands/rlbench/_train.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_1.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_10.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_5.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_1.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_10.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_5.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_1.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_10.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_5.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_1.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_10.yaml delete mode 100644 configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_5.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/eval_mlat_place.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/eval_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/train_mlat_place.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/train_taxpose_grasp.yaml delete mode 100644 configs/commands/rlbench/insert_onto_square_peg/train_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/eval_mlat_place.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/eval_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/lift.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/pregrasp.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/train_mlat_place.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/train_taxpose_grasp.yaml delete mode 100644 configs/commands/rlbench/phone_on_base/train_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/pick_and_lift/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/final.yaml delete mode 100644 configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/lift.yaml delete mode 100755 configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/pregrasp.yaml delete mode 100644 configs/commands/rlbench/pick_and_lift/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/pick_up_cup/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/lift.yaml delete mode 100755 configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/pregrasp.yaml delete mode 100644 configs/commands/rlbench/pick_up_cup/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/eval_mlat_place.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/eval_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/train_mlat_place.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/train_taxpose_grasp.yaml delete mode 100644 configs/commands/rlbench/place_hanger_on_rack/train_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/push_button/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/push_button/taxpose_all/precision_eval/postpush.yaml delete mode 100755 configs/commands/rlbench/push_button/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/push_button/taxpose_all/precision_eval/prepush.yaml delete mode 100644 configs/commands/rlbench/push_button/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_grasp.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_lift.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_place.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_pregrasp.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_grasp.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_lift.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_pregrasp.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/lift.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/pregrasp.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_grasp.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_lift.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_pregrasp.yaml delete mode 100644 configs/commands/rlbench/put_money_in_safe/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/lift.yaml delete mode 100644 configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/pregrasp.yaml delete mode 100644 configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/preplace.yaml delete mode 100644 configs/commands/rlbench/put_money_in_safe/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/eval_mlat_place.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/eval_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/train_mlat_place.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_grasp.yaml delete mode 100644 configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/reach_target/eval_rlbench_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/reach_target/eval_taxpose_all_reach.yaml delete mode 100644 configs/commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml delete mode 100755 configs/commands/rlbench/reach_target/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/reach_target/taxpose_all/precision_eval/reach.yaml delete mode 100644 configs/commands/rlbench/reach_target/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/reach_target/train_taxpose_reach.yaml delete mode 100644 configs/commands/rlbench/slide_block_to_target/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/postslide.yaml delete mode 100755 configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/preslide.yaml delete mode 100644 configs/commands/rlbench/slide_block_to_target/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/solve_puzzle/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/solve_puzzle/train_mlat_place.yaml delete mode 100644 configs/commands/rlbench/solve_puzzle/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/solve_puzzle/train_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/stack_wine/eval_mlat_place.yaml delete mode 100644 configs/commands/rlbench/stack_wine/eval_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/stack_wine/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/lift.yaml delete mode 100644 configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/pregrasp.yaml delete mode 100644 configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/preplace.yaml delete mode 100644 configs/commands/rlbench/stack_wine/train_mlat_place.yaml delete mode 100644 configs/commands/rlbench/stack_wine/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/stack_wine/train_taxpose_grasp.yaml delete mode 100644 configs/commands/rlbench/stack_wine/train_taxpose_lift.yaml delete mode 100644 configs/commands/rlbench/stack_wine/train_taxpose_place.yaml delete mode 100644 configs/commands/rlbench/stack_wine/train_taxpose_pregrasp.yaml delete mode 100644 configs/commands/rlbench/stack_wine/train_taxpose_preplace.yaml delete mode 100644 configs/commands/rlbench/take_money_out_safe/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/lift.yaml delete mode 100644 configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/place.yaml delete mode 100755 configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/pregrasp.yaml delete mode 100644 configs/commands/rlbench/take_money_out_safe/train_taxpose_all.yaml delete mode 100644 configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/eval_rlbench.yaml delete mode 100644 configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/grasp.yaml delete mode 100644 configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/lift.yaml delete mode 100755 configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/precision_eval.sh delete mode 100644 configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/pregasp.yaml delete mode 100755 configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/run_all.sh delete mode 100644 configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_all.yaml delete mode 100644 configs/dataset/real_world_mug/mug_place.yaml delete mode 100644 configs/dataset/rlbench/_default.yaml delete mode 100644 configs/dataset/rlbench/_default/_default.yaml delete mode 100644 configs/dataset/rlbench/_default/all.yaml delete mode 100644 configs/dataset/rlbench/_default/reach.yaml delete mode 100644 configs/dataset/rlbench/insert_onto_square_peg/_default.yaml delete mode 100644 configs/dataset/rlbench/insert_onto_square_peg/all.yaml delete mode 100644 configs/dataset/rlbench/insert_onto_square_peg/grasp.yaml delete mode 100644 configs/dataset/rlbench/insert_onto_square_peg/place.yaml delete mode 100644 configs/dataset/rlbench/insert_onto_square_peg_grasp.yaml delete mode 100644 configs/dataset/rlbench/insert_onto_square_peg_place.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base/_default.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base/all.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base/grasp.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base/lift.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base/place.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base/pregrasp.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base_grasp.yaml delete mode 100644 configs/dataset/rlbench/phone_on_base_place.yaml delete mode 100644 configs/dataset/rlbench/pick_and_lift/_default.yaml delete mode 100644 configs/dataset/rlbench/pick_and_lift/all.yaml delete mode 100644 configs/dataset/rlbench/pick_and_lift/final.yaml delete mode 100644 configs/dataset/rlbench/pick_and_lift/grasp.yaml delete mode 100644 configs/dataset/rlbench/pick_and_lift/lift.yaml delete mode 100644 configs/dataset/rlbench/pick_and_lift/pregrasp.yaml delete mode 100644 configs/dataset/rlbench/pick_up_cup/_default.yaml delete mode 100644 configs/dataset/rlbench/pick_up_cup/all.yaml delete mode 100644 configs/dataset/rlbench/pick_up_cup/grasp.yaml delete mode 100644 configs/dataset/rlbench/pick_up_cup/lift.yaml delete mode 100644 configs/dataset/rlbench/pick_up_cup/pregrasp.yaml delete mode 100644 configs/dataset/rlbench/place_hanger_on_rack/_default.yaml delete mode 100644 configs/dataset/rlbench/place_hanger_on_rack/all.yaml delete mode 100644 configs/dataset/rlbench/place_hanger_on_rack/grasp.yaml delete mode 100644 configs/dataset/rlbench/place_hanger_on_rack/place.yaml delete mode 100644 configs/dataset/rlbench/place_hanger_on_rack_grasp.yaml delete mode 100644 configs/dataset/rlbench/place_hanger_on_rack_place.yaml delete mode 100644 configs/dataset/rlbench/push_button/_default.yaml delete mode 100644 configs/dataset/rlbench/push_button/all.yaml delete mode 100644 configs/dataset/rlbench/push_button/postpush.yaml delete mode 100644 configs/dataset/rlbench/push_button/prepush.yaml delete mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml delete mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml delete mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml delete mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml delete mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml delete mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml delete mode 100644 configs/dataset/rlbench/put_money_in_safe/_default.yaml delete mode 100644 configs/dataset/rlbench/put_money_in_safe/all.yaml delete mode 100644 configs/dataset/rlbench/put_money_in_safe/grasp.yaml delete mode 100644 configs/dataset/rlbench/put_money_in_safe/lift.yaml delete mode 100644 configs/dataset/rlbench/put_money_in_safe/place.yaml delete mode 100644 configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml delete mode 100644 configs/dataset/rlbench/put_money_in_safe/preplace.yaml delete mode 100644 configs/dataset/rlbench/put_toilet_roll_on_stand/_default.yaml delete mode 100644 configs/dataset/rlbench/put_toilet_roll_on_stand/all.yaml delete mode 100644 configs/dataset/rlbench/put_toilet_roll_on_stand/grasp.yaml delete mode 100644 configs/dataset/rlbench/put_toilet_roll_on_stand/place.yaml delete mode 100644 configs/dataset/rlbench/put_toilet_roll_on_stand_grasp.yaml delete mode 100644 configs/dataset/rlbench/put_toilet_roll_on_stand_place.yaml delete mode 100644 configs/dataset/rlbench/reach_target/_default.yaml delete mode 100644 configs/dataset/rlbench/reach_target/all.yaml delete mode 100644 configs/dataset/rlbench/reach_target/reach.yaml delete mode 100644 configs/dataset/rlbench/slide_block_to_target/_default.yaml delete mode 100644 configs/dataset/rlbench/slide_block_to_target/all.yaml delete mode 100644 configs/dataset/rlbench/slide_block_to_target/postslide.yaml delete mode 100644 configs/dataset/rlbench/slide_block_to_target/preslide.yaml delete mode 100644 configs/dataset/rlbench/solve_puzzle/_default.yaml delete mode 100644 configs/dataset/rlbench/solve_puzzle/all.yaml delete mode 100644 configs/dataset/rlbench/solve_puzzle/grasp.yaml delete mode 100644 configs/dataset/rlbench/solve_puzzle/place.yaml delete mode 100644 configs/dataset/rlbench/solve_puzzle_place.yaml delete mode 100644 configs/dataset/rlbench/stack_wine/_default.yaml delete mode 100644 configs/dataset/rlbench/stack_wine/all.yaml delete mode 100644 configs/dataset/rlbench/stack_wine/grasp.yaml delete mode 100644 configs/dataset/rlbench/stack_wine/lift.yaml delete mode 100644 configs/dataset/rlbench/stack_wine/place.yaml delete mode 100644 configs/dataset/rlbench/stack_wine/pregrasp.yaml delete mode 100644 configs/dataset/rlbench/stack_wine/preplace.yaml delete mode 100644 configs/dataset/rlbench/take_money_out_safe/_default.yaml delete mode 100644 configs/dataset/rlbench/take_money_out_safe/all.yaml delete mode 100644 configs/dataset/rlbench/take_money_out_safe/grasp.yaml delete mode 100644 configs/dataset/rlbench/take_money_out_safe/lift.yaml delete mode 100644 configs/dataset/rlbench/take_money_out_safe/place.yaml delete mode 100644 configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml delete mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml delete mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml delete mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml delete mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml delete mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml delete mode 100644 configs/model/_mlat.yaml delete mode 100644 configs/model/mlat_n256_ns.yaml delete mode 100644 configs/model/mlat_s100.yaml delete mode 100644 configs/model/mlat_s100_vnn.yaml delete mode 100644 configs/model/mlat_s256.yaml delete mode 100644 configs/model/mlat_s256_vnn.yaml delete mode 100644 configs/object_class/insert_onto_square_peg.yaml delete mode 100644 configs/object_class/phone_on_base.yaml delete mode 100644 configs/object_class/place_hanger_on_rack.yaml delete mode 100644 configs/object_class/put_toilet_roll_on_stand.yaml delete mode 100644 configs/object_class/solve_puzzle.yaml delete mode 100644 configs/object_class/stack_wine.yaml delete mode 100644 configs/task/rlbench/_default/phase/all.yaml delete mode 100644 configs/task/rlbench/_default/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/_default/task.yaml delete mode 100644 configs/task/rlbench/insert_onto_square_peg/phase/all.yaml delete mode 100644 configs/task/rlbench/insert_onto_square_peg/phase/grasp.yaml delete mode 100644 configs/task/rlbench/insert_onto_square_peg/phase/place.yaml delete mode 100644 configs/task/rlbench/insert_onto_square_peg/task.yaml delete mode 100644 configs/task/rlbench/phone_on_base/phase/all.yaml delete mode 100644 configs/task/rlbench/phone_on_base/phase/grasp.yaml delete mode 100644 configs/task/rlbench/phone_on_base/phase/lift.yaml delete mode 100644 configs/task/rlbench/phone_on_base/phase/place.yaml delete mode 100644 configs/task/rlbench/phone_on_base/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/phone_on_base/task.yaml delete mode 100644 configs/task/rlbench/pick_and_lift/phase/all.yaml delete mode 100644 configs/task/rlbench/pick_and_lift/phase/final.yaml delete mode 100644 configs/task/rlbench/pick_and_lift/phase/grasp.yaml delete mode 100644 configs/task/rlbench/pick_and_lift/phase/lift.yaml delete mode 100644 configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/pick_and_lift/task.yaml delete mode 100644 configs/task/rlbench/pick_up_cup/phase/all.yaml delete mode 100644 configs/task/rlbench/pick_up_cup/phase/grasp.yaml delete mode 100644 configs/task/rlbench/pick_up_cup/phase/lift.yaml delete mode 100644 configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/pick_up_cup/task.yaml delete mode 100644 configs/task/rlbench/place_hanger_on_rack/phase/all.yaml delete mode 100644 configs/task/rlbench/place_hanger_on_rack/phase/grasp.yaml delete mode 100644 configs/task/rlbench/place_hanger_on_rack/phase/place.yaml delete mode 100644 configs/task/rlbench/place_hanger_on_rack/task.yaml delete mode 100644 configs/task/rlbench/push_button/phase/all.yaml delete mode 100644 configs/task/rlbench/push_button/phase/postpush.yaml delete mode 100644 configs/task/rlbench/push_button/phase/prepush.yaml delete mode 100644 configs/task/rlbench/push_button/task.yaml delete mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml delete mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml delete mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml delete mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml delete mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/put_knife_on_chopping_board/task.yaml delete mode 100644 configs/task/rlbench/put_money_in_safe/phase/all.yaml delete mode 100644 configs/task/rlbench/put_money_in_safe/phase/grasp.yaml delete mode 100644 configs/task/rlbench/put_money_in_safe/phase/lift.yaml delete mode 100644 configs/task/rlbench/put_money_in_safe/phase/place.yaml delete mode 100644 configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/put_money_in_safe/phase/preplace.yaml delete mode 100644 configs/task/rlbench/put_money_in_safe/task.yaml delete mode 100644 configs/task/rlbench/put_toilet_roll_on_stand/phase/all.yaml delete mode 100644 configs/task/rlbench/put_toilet_roll_on_stand/phase/grasp.yaml delete mode 100644 configs/task/rlbench/put_toilet_roll_on_stand/phase/place.yaml delete mode 100644 configs/task/rlbench/put_toilet_roll_on_stand/task.yaml delete mode 100644 configs/task/rlbench/reach_target/phase/all.yaml delete mode 100644 configs/task/rlbench/reach_target/phase/reach.yaml delete mode 100644 configs/task/rlbench/reach_target/task.yaml delete mode 100644 configs/task/rlbench/slide_block_to_target/phase/all.yaml delete mode 100644 configs/task/rlbench/slide_block_to_target/phase/postslide.yaml delete mode 100644 configs/task/rlbench/slide_block_to_target/phase/preslide.yaml delete mode 100644 configs/task/rlbench/slide_block_to_target/task.yaml delete mode 100644 configs/task/rlbench/solve_puzzle/phase/all.yaml delete mode 100644 configs/task/rlbench/solve_puzzle/phase/grasp.yaml delete mode 100644 configs/task/rlbench/solve_puzzle/phase/place.yaml delete mode 100644 configs/task/rlbench/solve_puzzle/task.yaml delete mode 100644 configs/task/rlbench/stack_wine/phase/all.yaml delete mode 100644 configs/task/rlbench/stack_wine/phase/grasp.yaml delete mode 100644 configs/task/rlbench/stack_wine/phase/lift.yaml delete mode 100644 configs/task/rlbench/stack_wine/phase/place.yaml delete mode 100644 configs/task/rlbench/stack_wine/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/stack_wine/phase/preplace.yaml delete mode 100644 configs/task/rlbench/stack_wine/task.yaml delete mode 100644 configs/task/rlbench/take_money_out_safe/phase/all.yaml delete mode 100644 configs/task/rlbench/take_money_out_safe/phase/grasp.yaml delete mode 100644 configs/task/rlbench/take_money_out_safe/phase/lift.yaml delete mode 100644 configs/task/rlbench/take_money_out_safe/phase/place.yaml delete mode 100644 configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml delete mode 100644 configs/task/rlbench/take_money_out_safe/task.yaml delete mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml delete mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml delete mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml delete mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml delete mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml delete mode 100755 convert_demos_to_mp4.sh delete mode 100644 convert_episodes.sh delete mode 100644 convert_episodes_ffvi.sh delete mode 100644 copy_rlbench_and_unzip.sh delete mode 100755 docker/entrypoint.sh delete mode 100755 launch.sh delete mode 100644 scripts/create_rlbench_dataset.py delete mode 100644 scripts/debug_headless.py delete mode 100644 scripts/eval_rlbench.py delete mode 100644 scripts/generate_task_configs.py delete mode 100644 scripts/merge_table.py delete mode 100644 scripts/new_version.py delete mode 100644 scripts/old_version.py delete mode 100644 scripts/reupload_artifact.py delete mode 100755 scripts/run_rlbench10_rollouts.sh delete mode 100755 scripts/train_eval.sh delete mode 100644 taxpose/datasets/real_world_mug.py delete mode 100644 taxpose/datasets/rlbench.py delete mode 100644 taxpose/models/reasoning.py delete mode 100644 taxpose/models/taxpose_reasoning.py delete mode 100644 taxpose/training/taxpose_inference.py delete mode 100644 taxpose/utils/compile_result.py delete mode 100644 taxpose/utils/multilateration.py delete mode 100644 taxpose/utils/website.py delete mode 100644 unconvert_demos_to_mp4.sh diff --git a/Dockerfile b/Dockerfile index bc38e3c..54d3df7 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,192 +1,65 @@ -# Use the official Ubuntu 20.04 image as the base -# FROM ubuntu:20.04 -FROM nvidia/cuda:11.8.0-cudnn8-runtime-ubuntu20.04 +FROM nvidia/cuda:12.4.1-base-ubuntu22.04 - -# Set environment variables to avoid interactive prompts during installation ENV DEBIAN_FRONTEND=noninteractive -# Install necessary dependencies -RUN apt-get update && \ - apt-get install -y \ +# Set up the environment. +ENV CODING_ROOT=/opt/baeisner +WORKDIR $CODING_ROOT + +# Install the dependencies. +RUN apt-get update && apt-get install -y \ + # Dependencies required for python. + build-essential \ curl \ git \ - build-essential \ - libssl-dev \ - zlib1g-dev \ libbz2-dev \ - git \ - libreadline-dev \ - libsqlite3-dev \ - wget \ - llvm \ - libncurses5-dev \ - libncursesw5-dev \ - xz-utils \ - tk-dev \ libffi-dev \ liblzma-dev \ - python-openssl && \ - apt-get clean && \ - rm -rf /var/lib/apt/lists/* - - -# VirtualGL Dependencies -RUN apt-get update && apt-get install -y \ - openbox \ - libxv1 \ - libglu1-mesa \ - mesa-utils \ - libglvnd-dev \ - wget \ - xvfb \ - libc6 \ + libncursesw5-dev \ + libsqlite3-dev \ + libssl-dev \ + libreadline-dev \ + libxml2-dev \ + libxmlsec1-dev \ + tk-dev \ + xz-utils \ + zlib1g-dev \ + && apt-get clean \ && rm -rf /var/lib/apt/lists/* -# CoppeliaSim Dependencies -RUN apt-get update && \ - apt-get install '^libxcb.*-dev' libx11-xcb-dev libglu1-mesa-dev libxrender-dev libxi-dev libxkbcommon-dev libxkbcommon-x11-dev -y && \ - rm -rf /var/lib/apt/lists/* - -# Install pyenv -ENV CODING_ROOT="/opt/baeisner" - -WORKDIR $CODING_ROOT +# Install pyenv. RUN git clone --depth=1 https://github.com/pyenv/pyenv.git .pyenv - -ENV PYENV_ROOT="$CODING_ROOT/.pyenv" +ENV PYENV_ROOT=$CODING_ROOT/.pyenv ENV PATH="$PYENV_ROOT/shims:$PYENV_ROOT/bin:$PATH" -# Install Python 3.9 using pyenv +# Install python. RUN pyenv install 3.9.12 RUN pyenv global 3.9.12 -########################### -# OLD STUFF -########################### - -# Install PyTorch with CUDA support (make sure to adjust this depending on your CUDA version) -# RUN pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 --extra-index-url https://download.pytorch.org/whl/cu116 - -# Install pytorch geometric. -# RUN pip install torch-scatter==2.0.9 torch-sparse==0.6.15 torch-cluster==1.6.0 torch-spline-conv==1.2.1 pyg_lib==0.1.0 -f https://data.pyg.org/whl/torch-1.13.0+cu116.html - -# Install pytorch3d -# RUN pip install fvcore iopath && \ -# pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html - -########################### -# END OLD STUFF -########################### - -# Download CoppeliaSim -RUN mkdir $CODING_ROOT/.coppelia -WORKDIR $CODING_ROOT/.coppelia -RUN curl -L https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -o CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \ - tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz && \ - rm CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz - -# modify environment variables -ENV COPPELIASIM_ROOT="$CODING_ROOT/.coppelia/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04" -ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$COPPELIASIM_ROOT" -ENV QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT" - - -# TODO: put this above the code copying. -# Install VirtualGL -RUN wget --no-check-certificate https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_amd64.deb \ - && dpkg -i virtualgl_*.deb \ - && rm virtualgl_*.deb - -# Configure VirtualGL -RUN /opt/VirtualGL/bin/vglserver_config +s +f -t +egl - -# Setup environment variables for NVIDIA and VirtualGL -ENV NVIDIA_VISIBLE_DEVICES all -# ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute -ENV NVIDIA_DRIVER_CAPABILITIES all - -########################### -# Special Torch Install -########################### - -RUN pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118 -RUN pip install pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.0.0+cu118.html -RUN pip install fvcore iopath && \ - pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html - - -# Install CFFI -RUN pip install cffi==1.14.2 wheel - -# Install PyRep -RUN pip install --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyRep.git" - # Make the working directory the home directory RUN mkdir $CODING_ROOT/code WORKDIR $CODING_ROOT/code -# Only copy in the source code that is necessary for the dependencies to install -COPY ./taxpose $CODING_ROOT/code/taxpose -COPY ./third_party $CODING_ROOT/code/third_party -COPY ./setup.py $CODING_ROOT/code/setup.py -COPY ./pyproject.toml $CODING_ROOT/code/pyproject.toml -RUN pip install -e ".[rlbench]" -RUN pip install -e third_party/ndf_robot - -# Changes to the configs and scripts will not require a rebuild -COPY ./configs $CODING_ROOT/code/configs -COPY ./scripts $CODING_ROOT/code/scripts - -RUN git config --global --add safe.directory /root/code - -# Make a data directory. -RUN mkdir $CODING_ROOT/data - -# Make a logs directory. -RUN mkdir $CODING_ROOT/logs +# Copy in the requirements. +COPY requirements-gpu.txt . -# Install gdown. -RUN pip install gdown +RUN pip install --upgrade pip && pip install wheel==0.40.0 -# Copy the download script. -COPY ./download_data.sh $CODING_ROOT/code/download_data.sh +# Install the requirements. +RUN pip install -r requirements-gpu.txt +# Copy in the third-party directory. +COPY third_party third_party -# Install ffmpeg. -RUN apt-get update && apt-get install -y ffmpeg && apt-get clean && rm -rf /var/lib/apt/lists/* - - -COPY ./docker/entrypoint.sh /opt/baeisner/entrypoint.sh -ENTRYPOINT ["/opt/baeisner/entrypoint.sh"] - -# RUN pip install --force-reinstall torch-scatter==2.0.9 torch-sparse==0.6.15 torch-cluster==1.6.0 torch-spline-conv==1.2.1 pyg_lib==0.1.0 -f https://data.pyg.org/whl/torch-1.13.0+cu116.html - -# RUN pip install --force-reinstall torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118 -# RUN pip install --force-reinstall pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.0.0+cu118.html -# RUN pip uninstall -y pytorch3d -# RUN pip install --force-reinstall fvcore iopath && \ -# pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html -# -# RUN rm -r /opt/baeisner/.coppelia -# # COPY docker/.coppelia /opt/baeisner/.coppelia -# COPY docker/.coppelia/coppeliasim.tar.xz /opt/baeisner/.coppelia/coppeliasim.tar.xz -# WORKDIR $CODING_ROOT/.coppelia -# RUN tar -xf /opt/baeisner/.coppelia/coppeliasim.tar.xz -# WORKDIR $CODING_ROOT/code - -# ENV COPPELIASIM_ROOT="$CODING_ROOT/.coppelia/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04" -# ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$COPPELIASIM_ROOT" -# ENV QT_QPA_PLATFORM_PLUGIN_PATH="$COPPELIASIM_ROOT" -# RUN chmod 777 /opt/baeisner/.coppelia/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04 - -# RUN echo "Hello" -# RUN pip install --user --no-build-isolation "pyrep @ git+https://github.com/stepjam/PyRep.git" +# Install the third-party libraries. +RUN pip install -e third_party/ndf_robot -# RUN curl -L https://downloads.coppeliarobotics.com/V4_6_0_rev18/CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz -o CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz && \ -# tar -xf CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz && \ -# rm CoppeliaSim_Pro_V4_6_0_rev18_Ubuntu20_04.tar.xz +# Copy in pyproject.toml. +COPY pyproject.toml . +RUN mkdir taxpose +RUN touch taxpose/py.typed -# Set up the entry point -CMD ["python", "-c", "import torch; print(torch.cuda.is_available())"] +RUN pip install -e ".[develop]" +# Copy in the code. +COPY . . diff --git a/README.md b/README.md index 5c6ec14..474e90d 100644 --- a/README.md +++ b/README.md @@ -57,9 +57,7 @@ For our experiments, we installed torch 1.11 with cuda 11.3: ``` # pip install torch==1.11.0+cu113 torchvision==0.12.0+cu113 --extra-index-url https://download.pytorch.org/whl/cu113 -# pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 --extra-index-url https://download.pytorch.org/whl/cu116 -pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118 - +pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 --extra-index-url https://download.pytorch.org/whl/cu116 ``` ### `pytorch-geometric` @@ -70,8 +68,7 @@ For our experiments, we installed with the following command: ``` # pip install torch-scatter==2.0.9 torch-sparse==0.6.15 torch-cluster==1.6.0 torch-spline-conv==1.2.1 pyg_lib==0.1.0 -f https://data.pyg.org/whl/torch-1.11.0+cu113.html -# pip install torch-scatter==2.0.9 torch-sparse==0.6.15 torch-cluster==1.6.0 torch-spline-conv==1.2.1 pyg_lib==0.1.0 -f https://data.pyg.org/whl/torch-1.13.0+cu116.html -pip install pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.1.0+cu121.html +pip install torch-scatter==2.0.9 torch-sparse==0.6.15 torch-cluster==1.6.0 torch-spline-conv==1.2.1 pyg_lib==0.1.0 -f https://data.pyg.org/whl/torch-1.13.0+cu116.html ``` ### `pytorch3d` @@ -83,9 +80,7 @@ We ran the following: ``` pip install fvcore iopath # pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu113_pyt1110/download.html -# pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html -# pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html - +pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html ``` ### `dgl` @@ -98,9 +93,6 @@ pip install --pre dgl -f https://data.dgl.ai/wheels/cu113/repo.html pip install --pre dglgo -f https://data.dgl.ai/wheels-test/repo.html ``` -# NOTE -Cursed vglrun requires us to pipe in our own custom LD_LIBRARY_PATH. This is a hacky way to do it, but it works for now. - ## Install `taxpose`. This part should be really simple: @@ -153,9 +145,6 @@ python setup.py ``` - - - # Code Structure TODO(beisner): Clean this up. @@ -659,40 +648,3 @@ These are real-world experiments we ran, and so can't be reproduced purely from ## Supplement Tables 11-14: Expanded results These are granular results of the experiments in Table 1. - - -## Docker - -### Build a Docker container. - -``` -docker build -t beisner/taxpose . -``` - -### This command works for RLBench eval. Hard-fought. -``` -docker run --gpus "device=1" -it --rm -v /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json -v /home/beisner/datasets/:/data -v ./artifacts:/opt/artifacts beisner/taxpose python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml num_trials=100 resources.num_workers=20 wandb.artifact_dir=/opt/artifacts wandb.group=rlbench_push_button headless=True task.action_mode=gripper_and_object task.anchor_mode=background_robot_removed model.num_points=512 -``` - -### Run training. - -``` -WANDB_API_KEY= -USERNAME= -# Optional: mount current directory to run / test new code. -# Mount data directory to access data. -docker run \ - --shm-size=256m\ - -v /data/ndf:/opt/baeisner/data \ - -v $(pwd)/trained_models:/opt/baeisner/code/trained_models \ - -v $(pwd)/logs:/opt/baeisner/logs \ - --gpus all \ - -e WANDB_API_KEY=$WANDB_API_KEY \ - -e WANDB_DOCKER_IMAGE=beisner/taxpose \ - beisner/taxpose python scripts/train_residual_flow.py \ - task=mug_grasp \ - model=taxpose \ - +mode=train \ - benchmark.dataset_root=/opt/baeisner/data \ - log_dir=/opt/baeisner/logs -``` diff --git a/autobot.md b/autobot.md deleted file mode 100644 index fee09c2..0000000 --- a/autobot.md +++ /dev/null @@ -1,48 +0,0 @@ - -Downloading the data. - -```bash -singularity exec \ ---nv \ ---pwd /opt/$(whoami)/code \ --B /scratch/$(whoami)/data:/opt/data \ -docker://beisner/taxpose \ -/opt/code/scripts/download_data.sh \ - /opt/data/ndf -``` - - -Pretraining. - -```bash -SINGULARITYENV_CUDA_VISIBLE_DEVICES=0 \ -SINGULARITYENV_WANDB_DOCKER_IMAGE=taxpose \ -singularity exec \ ---nv \ --B /scratch/$(whoami)/data:/data \ --B /scratch/$(whoami)/logs:/opt/logs \ -docker://beisner/taxpose \ -python scripts/train_residual_flow.py \ - log_dir=/opt/logs -``` - - - -Training the model. - -```bash -SINGULARITYENV_CUDA_VISIBLE_DEVICES=0 \ -SINGULARITYENV_WANDB_DOCKER_IMAGE=taxpose \ -singularity exec \ ---nv \ ---pwd /opt/$(whoami)/code \ --B /scratch/$(whoami)/data:/opt/data \ --B /scratch/$(whoami)/logs:/opt/logs \ -docker://beisner/taxpose \ -python scripts/train_residual_flow.py \ - task=mug_grasp \ - model=taxpose \ - +mode=train \ - benchmark.dataset_root=/opt/data \ - log_dir=/opt/logs -``` diff --git a/configs/benchmark/real_world_mug.yaml b/configs/benchmark/real_world_mug.yaml deleted file mode 100644 index 2de90d4..0000000 --- a/configs/benchmark/real_world_mug.yaml +++ /dev/null @@ -1,2 +0,0 @@ -name: real_world_mug -dataset_root: /home/beisner/code/multi_project/cam_ready_trainingdata diff --git a/configs/benchmark/rlbench.yaml b/configs/benchmark/rlbench.yaml deleted file mode 100644 index c448600..0000000 --- a/configs/benchmark/rlbench.yaml +++ /dev/null @@ -1,2 +0,0 @@ -name: rlbench -dataset_root: ${..data_root}/rlbench10 diff --git a/configs/commands/ablations/se3_augmentation/_base.yaml b/configs/commands/ablations/se3_augmentation/_base.yaml deleted file mode 100644 index c4eab1d..0000000 --- a/configs/commands/ablations/se3_augmentation/_base.yaml +++ /dev/null @@ -1,16 +0,0 @@ -# @package _global_ - -defaults: - - /commands/ndf/_train@_here_ - - _self_ - -dm: - train_dset: - action_rotation_variance: 1e-4 - anchor_rotation_variance: 1e-4 - translation_variance: 1e-4 - - val_dset: - action_rotation_variance: 3.1415 - anchor_rotation_variance: 3.1415 - translation_variance: 0.5 diff --git a/configs/commands/ablations/se3_augmentation/eval_mlat_mug_arbitrary.yaml b/configs/commands/ablations/se3_augmentation/eval_mlat_mug_arbitrary.yaml deleted file mode 100644 index 03fe1cf..0000000 --- a/configs/commands/ablations/se3_augmentation/eval_mlat_mug_arbitrary.yaml +++ /dev/null @@ -1,11 +0,0 @@ -# @package _global_ - -defaults: - - /commands/ndf/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: mug - - override /pose_dist: arbitrary - - _self_ - -checkpoint_file_grasp: r-pad/taxpose/model-sysvj0fh:v0 -checkpoint_file_place: r-pad/taxpose/model-wbjsiwz1:v0 diff --git a/configs/commands/ablations/se3_augmentation/eval_taxpose_mug_arbitrary.yaml b/configs/commands/ablations/se3_augmentation/eval_taxpose_mug_arbitrary.yaml deleted file mode 100644 index d80d6f2..0000000 --- a/configs/commands/ablations/se3_augmentation/eval_taxpose_mug_arbitrary.yaml +++ /dev/null @@ -1,11 +0,0 @@ -# @package _global_ - -defaults: - - /commands/ndf/_eval@_here_ - - override /model: taxpose - - override /task: mug - - override /pose_dist: arbitrary - - _self_ - -checkpoint_file_grasp: r-pad/taxpose/model-dzbusuf8:v0 -checkpoint_file_place: r-pad/taxpose/model-yby5mhh5:v0 diff --git a/configs/commands/ablations/se3_augmentation/train_mlat_mug_grasp.yaml b/configs/commands/ablations/se3_augmentation/train_mlat_mug_grasp.yaml deleted file mode 100644 index 0143c90..0000000 --- a/configs/commands/ablations/se3_augmentation/train_mlat_mug_grasp.yaml +++ /dev/null @@ -1,8 +0,0 @@ -# @package _global_ - -defaults: - - /commands/ablations/se3_augmentation/_base@_here_ - - override /model: mlat_s256_vnn - - override /task: mug - - override /task: grasp - - _self_ diff --git a/configs/commands/ablations/se3_augmentation/train_mlat_mug_place.yaml b/configs/commands/ablations/se3_augmentation/train_mlat_mug_place.yaml deleted file mode 100644 index 7a24100..0000000 --- a/configs/commands/ablations/se3_augmentation/train_mlat_mug_place.yaml +++ /dev/null @@ -1,8 +0,0 @@ -# @package _global_ - -defaults: - - /commands/ablations/se3_augmentation/_base@_here_ - - override /model: mlat_s256_vnn - - override /task: mug - - override /phase: place - - _self_ diff --git a/configs/commands/ablations/se3_augmentation/train_taxpose_mug_grasp.yaml b/configs/commands/ablations/se3_augmentation/train_taxpose_mug_grasp.yaml deleted file mode 100644 index 23d9810..0000000 --- a/configs/commands/ablations/se3_augmentation/train_taxpose_mug_grasp.yaml +++ /dev/null @@ -1,8 +0,0 @@ -# @package _global_ - -defaults: - - /commands/ablations/se3_augmentation/_base@_here_ - - override /model: taxpose - - override /task: mug - - override /task: grasp - - _self_ diff --git a/configs/commands/ablations/se3_augmentation/train_taxpose_mug_place.yaml b/configs/commands/ablations/se3_augmentation/train_taxpose_mug_place.yaml deleted file mode 100644 index f12b233..0000000 --- a/configs/commands/ablations/se3_augmentation/train_taxpose_mug_place.yaml +++ /dev/null @@ -1,8 +0,0 @@ -# @package _global_ - -defaults: - - /commands/ablations/se3_augmentation/_base@_here_ - - override /model: taxpose - - override /task: mug - - override /phase: place - - _self_ diff --git a/configs/commands/rlbench/README.md b/configs/commands/rlbench/README.md deleted file mode 100644 index 26818b1..0000000 --- a/configs/commands/rlbench/README.md +++ /dev/null @@ -1,7 +0,0 @@ -# Instructions for adding new commands to the RL Bench environment - -1. commands/rlbench/TASK/train_MODEL_PHASE.yaml -2. checkpoints/rlbench/TASK/pretraining/PHASE.yaml -3. dataset/rlbench/TASK_PHASE.yaml -4. task/rlbench/TASK/phase/PHASE.yaml -5. symmetry labels diff --git a/configs/commands/rlbench/_default/train_taxpose_all.yaml b/configs/commands/rlbench/_default/train_taxpose_all.yaml deleted file mode 100644 index db6d121..0000000 --- a/configs/commands/rlbench/_default/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: DEFAULT - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/_eval.yaml b/configs/commands/rlbench/_eval.yaml deleted file mode 100644 index dfe6f78..0000000 --- a/configs/commands/rlbench/_eval.yaml +++ /dev/null @@ -1,5 +0,0 @@ -# @package _global_ - -defaults: - - /eval_metrics - - override /benchmark: rlbench diff --git a/configs/commands/rlbench/_train.yaml b/configs/commands/rlbench/_train.yaml deleted file mode 100644 index 1884d3d..0000000 --- a/configs/commands/rlbench/_train.yaml +++ /dev/null @@ -1,25 +0,0 @@ -# @package _global_ - -defaults: - - /train_ndf - - override /benchmark: rlbench - - _self_ - -break_symmetry: True - -resources: - num_workers: 4 - -pretraining: - mode: none - -training: - max_epochs: 500 - batch_size: 8 - check_val_every_n_epoch: 10 - log_every_n_steps: 100 - -dm: - train_dset: - num_points: 256 - synthetic_occlusion: False diff --git a/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_1.yaml b/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_1.yaml deleted file mode 100644 index 449ad59..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_1.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -checkpoints: - place: r-pad/taxpose/model-9ccr3hkb:v0 - -dm: - train_dset: - demo_dset: - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_10.yaml b/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_10.yaml deleted file mode 100644 index 0171826..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_10.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -checkpoints: - place: r-pad/taxpose/model-ii7pv41v:v0 - -dm: - train_dset: - demo_dset: - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_5.yaml b/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_5.yaml deleted file mode 100644 index f1907bf..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_5.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -checkpoints: - place: r-pad/taxpose/model-9irzbsw6:v0 - -dm: - train_dset: - demo_dset: - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_1.yaml b/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_1.yaml deleted file mode 100644 index 8e896c1..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_1.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -checkpoints: - place: r-pad/taxpose/model-u2ji8kpc:v0 - -dm: - train_dset: - demo_dset: - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_10.yaml b/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_10.yaml deleted file mode 100644 index 0f48de9..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_10.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -checkpoints: - place: r-pad/taxpose/model-jwbfxcd4:v0 - -dm: - train_dset: - demo_dset: - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_5.yaml b/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_5.yaml deleted file mode 100644 index e188289..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_5.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -checkpoints: - place: r-pad/taxpose/model-dm8u8ix8:v0 - -dm: - train_dset: - demo_dset: - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_1.yaml b/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_1.yaml deleted file mode 100644 index f7ebf5a..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_1.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -# Dataset Settings -dm: - train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_10.yaml b/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_10.yaml deleted file mode 100644 index 5fd17b6..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_10.yaml +++ /dev/null @@ -1,32 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -# Dataset Settings -dm: - train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_5.yaml b/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_5.yaml deleted file mode 100644 index e41482c..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_5.yaml +++ /dev/null @@ -1,29 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -# Dataset Settings - - -dm: - train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_1.yaml b/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_1.yaml deleted file mode 100644 index 85a15e6..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_1.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -# Dataset Settings -dm: - train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_10.yaml b/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_10.yaml deleted file mode 100644 index 640f3dd..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_10.yaml +++ /dev/null @@ -1,32 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -# Dataset Settings -dm: - train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_5.yaml b/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_5.yaml deleted file mode 100644 index a2472e3..0000000 --- a/configs/commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_5.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -# Dataset Settings -dm: - train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - val_dset: - demo_dset: - episodes: - - 10 diff --git a/configs/commands/rlbench/insert_onto_square_peg/eval_mlat_place.yaml b/configs/commands/rlbench/insert_onto_square_peg/eval_mlat_place.yaml deleted file mode 100644 index 461ab81..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/eval_mlat_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: insert_onto_square_peg - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/insert_onto_square_peg/eval_taxpose_place.yaml b/configs/commands/rlbench/insert_onto_square_peg/eval_taxpose_place.yaml deleted file mode 100644 index 97af605..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/eval_taxpose_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: insert_onto_square_peg - - override /phase: place - - _self_ - -break_symmetry: True - -model: - break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index e1f27de..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: insert_onto_square_peg -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index 7ca475f..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: insert_onto_square_peg - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index 2b69576..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: insert_onto_square_peg - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 988f0b5..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash - -set -e - -echo 'Running precision eval' - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating grasp' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_insert_onto_square_peg $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_insert_onto_square_peg $@ - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating place' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_insert_onto_square_peg $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/insert_onto_square_peg/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_insert_onto_square_peg $@ diff --git a/configs/commands/rlbench/insert_onto_square_peg/train_mlat_place.yaml b/configs/commands/rlbench/insert_onto_square_peg/train_mlat_place.yaml deleted file mode 100644 index 1bb4e61..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/train_mlat_place.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: insert_onto_square_peg - - override /phase: place - - _self_ - -break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_all.yaml b/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_all.yaml deleted file mode 100644 index 1282e72..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: insert_onto_square_peg - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_grasp.yaml b/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_grasp.yaml deleted file mode 100644 index 0a06bcf..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_grasp.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: insert_onto_square_peg - - override /phase: grasp - - _self_ - -break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_place.yaml b/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_place.yaml deleted file mode 100644 index fd4f549..0000000 --- a/configs/commands/rlbench/insert_onto_square_peg/train_taxpose_place.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: insert_onto_square_peg - - override /phase: place - - _self_ - -break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/phone_on_base/eval_mlat_place.yaml b/configs/commands/rlbench/phone_on_base/eval_mlat_place.yaml deleted file mode 100644 index 33a3bbe..0000000 --- a/configs/commands/rlbench/phone_on_base/eval_mlat_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: phone_on_base - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/phone_on_base/eval_taxpose_place.yaml b/configs/commands/rlbench/phone_on_base/eval_taxpose_place.yaml deleted file mode 100644 index 23178e5..0000000 --- a/configs/commands/rlbench/phone_on_base/eval_taxpose_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: phone_on_base - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/phone_on_base/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/phone_on_base/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index da296a7..0000000 --- a/configs/commands/rlbench/phone_on_base/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: phone_on_base - - override /phase: all - - _self_ - -break_symmetry: False - -model: diff --git a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index ea2520f..0000000 --- a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: phone_on_base - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: diff --git a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index 6f6eef0..0000000 --- a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: phone_on_base - - override /phase: lift - - _self_ - -break_symmetry: False - -model: diff --git a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index 75fcdfc..0000000 --- a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: phone_on_base - - override /phase: place - - _self_ - -break_symmetry: False - -model: diff --git a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 1cf29f5..0000000 --- a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,33 +0,0 @@ -#!/bin/bash - -set -e - -echo 'Running precision eval' - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating pregrasp' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/pregrasp data_root=/data wandb.group=rlbench_phone_on_base $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/pregrasp data_root=/data wandb.group=rlbench_phone_on_base $@ - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating grasp' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_phone_on_base $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_phone_on_base $@ - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating lift' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/lift data_root=/data wandb.group=rlbench_phone_on_base $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/lift data_root=/data wandb.group=rlbench_phone_on_base $@ - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating place' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_phone_on_base $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/phone_on_base/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_phone_on_base $@ diff --git a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/pregrasp.yaml b/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/pregrasp.yaml deleted file mode 100644 index 76f3f9e..0000000 --- a/configs/commands/rlbench/phone_on_base/taxpose_all/precision_eval/pregrasp.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: phone_on_base - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: diff --git a/configs/commands/rlbench/phone_on_base/train_mlat_place.yaml b/configs/commands/rlbench/phone_on_base/train_mlat_place.yaml deleted file mode 100644 index 764a584..0000000 --- a/configs/commands/rlbench/phone_on_base/train_mlat_place.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: phone_on_base - - override /phase: place - - _self_ - -break_symmetry: False diff --git a/configs/commands/rlbench/phone_on_base/train_taxpose_all.yaml b/configs/commands/rlbench/phone_on_base/train_taxpose_all.yaml deleted file mode 100644 index f901f67..0000000 --- a/configs/commands/rlbench/phone_on_base/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: phone_on_base - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/phone_on_base/train_taxpose_grasp.yaml b/configs/commands/rlbench/phone_on_base/train_taxpose_grasp.yaml deleted file mode 100644 index 81bc56f..0000000 --- a/configs/commands/rlbench/phone_on_base/train_taxpose_grasp.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: phone_on_base - - override /phase: grasp - - _self_ - -break_symmetry: False diff --git a/configs/commands/rlbench/phone_on_base/train_taxpose_place.yaml b/configs/commands/rlbench/phone_on_base/train_taxpose_place.yaml deleted file mode 100644 index dcfbbee..0000000 --- a/configs/commands/rlbench/phone_on_base/train_taxpose_place.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: phone_on_base - - override /phase: place - - _self_ - -break_symmetry: False diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index ca7885e..0000000 --- a/configs/commands/rlbench/pick_and_lift/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: pick_and_lift -- _self_ -dm: - train_dset: - demo_dset: - num_points: 128 -model: - break_symmetry: false - conditional: true - num_points: 128 - z_offset: 0.0 diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/final.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/final.yaml deleted file mode 100644 index ddc1d71..0000000 --- a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/final.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: pick_and_lift - - override /phase: final - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index fd47ef9..0000000 --- a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: pick_and_lift - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index 84a45bf..0000000 --- a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: pick_and_lift - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 68de1de..0000000 --- a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,33 +0,0 @@ -#!/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_all/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_all/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_all/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_all/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_all/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_all/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_all/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_all/precision_eval/final data_root=/data wandb.group=rlbench_pick_and_lift $@ diff --git a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/pregrasp.yaml b/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/pregrasp.yaml deleted file mode 100644 index 8b68aa9..0000000 --- a/configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/pregrasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: pick_and_lift - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/pick_and_lift/train_taxpose_all.yaml b/configs/commands/rlbench/pick_and_lift/train_taxpose_all.yaml deleted file mode 100644 index 7dfda51..0000000 --- a/configs/commands/rlbench/pick_and_lift/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: pick_and_lift - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 4ce5316..0000000 --- a/configs/commands/rlbench/pick_up_cup/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: pick_up_cup -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index 3a87f08..0000000 --- a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: pick_up_cup - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index 3668c71..0000000 --- a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: pick_up_cup - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index c012976..0000000 --- a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,26 +0,0 @@ -#!/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_all/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_all/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_all/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_all/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_all/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_all/precision_eval/lift data_root=/data wandb.group=rlbench_pick_up_cup $@ diff --git a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/pregrasp.yaml b/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/pregrasp.yaml deleted file mode 100644 index 29698cc..0000000 --- a/configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/pregrasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: pick_up_cup - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/pick_up_cup/train_taxpose_all.yaml b/configs/commands/rlbench/pick_up_cup/train_taxpose_all.yaml deleted file mode 100644 index 2f7ca97..0000000 --- a/configs/commands/rlbench/pick_up_cup/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: pick_up_cup - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/eval_mlat_place.yaml b/configs/commands/rlbench/place_hanger_on_rack/eval_mlat_place.yaml deleted file mode 100644 index 602e610..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/eval_mlat_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: place_hanger_on_rack - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/eval_taxpose_place.yaml b/configs/commands/rlbench/place_hanger_on_rack/eval_taxpose_place.yaml deleted file mode 100644 index d323d27..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/eval_taxpose_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: place_hanger_on_rack - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 01f6f68..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: place_hanger_on_rack -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index 6bec6e9..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: place_hanger_on_rack - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index 15ec8b6..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: place_hanger_on_rack - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 74f71ac..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash - -set -e - -echo 'Running precision eval' - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating grasp' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_place_hanger_on_rack $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_place_hanger_on_rack $@ - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating place' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_place_hanger_on_rack $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/place_hanger_on_rack/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_place_hanger_on_rack $@ diff --git a/configs/commands/rlbench/place_hanger_on_rack/train_mlat_place.yaml b/configs/commands/rlbench/place_hanger_on_rack/train_mlat_place.yaml deleted file mode 100644 index 23dfdaa..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/train_mlat_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: place_hanger_on_rack - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_all.yaml b/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_all.yaml deleted file mode 100644 index c17dd64..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: place_hanger_on_rack - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_grasp.yaml b/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_grasp.yaml deleted file mode 100644 index 1a54c5c..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_grasp.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: place_hanger_on_rack - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_place.yaml b/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_place.yaml deleted file mode 100644 index 3478fa3..0000000 --- a/configs/commands/rlbench/place_hanger_on_rack/train_taxpose_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: place_hanger_on_rack - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/push_button/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/push_button/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index b76beec..0000000 --- a/configs/commands/rlbench/push_button/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: push_button -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/push_button/taxpose_all/precision_eval/postpush.yaml b/configs/commands/rlbench/push_button/taxpose_all/precision_eval/postpush.yaml deleted file mode 100644 index 3099d4e..0000000 --- a/configs/commands/rlbench/push_button/taxpose_all/precision_eval/postpush.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: push_button - - override /phase: postpush - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/push_button/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/push_button/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 5e228ce..0000000 --- a/configs/commands/rlbench/push_button/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/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_all/precision_eval/prepush data_root=/data wandb.group=rlbench_push_button $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/push_button/taxpose_all/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_all/precision_eval/postpush data_root=/data wandb.group=rlbench_push_button $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/push_button/taxpose_all/precision_eval/postpush data_root=/data wandb.group=rlbench_push_button $@ diff --git a/configs/commands/rlbench/push_button/taxpose_all/precision_eval/prepush.yaml b/configs/commands/rlbench/push_button/taxpose_all/precision_eval/prepush.yaml deleted file mode 100644 index 05e052b..0000000 --- a/configs/commands/rlbench/push_button/taxpose_all/precision_eval/prepush.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: push_button - - override /phase: prepush - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/push_button/train_taxpose_all.yaml b/configs/commands/rlbench/push_button/train_taxpose_all.yaml deleted file mode 100644 index 15455d9..0000000 --- a/configs/commands/rlbench/push_button/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: push_button - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose.yaml deleted file mode 100644 index a1d5cbf..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose.yaml +++ /dev/null @@ -1,22 +0,0 @@ -# @package _global_ - -defaults: - - /eval_rlbench.yaml - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - num_points: 128 - - z_offset: 0.05 - - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose_all.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose_all.yaml deleted file mode 100644 index f73cc9d..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose_all.yaml +++ /dev/null @@ -1,21 +0,0 @@ -# @package _global_ - -defaults: - - /eval_rlbench.yaml - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - num_points: 128 - z_offset: 0.05 - - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_grasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_grasp.yaml deleted file mode 100644 index eeea41e..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_grasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_lift.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_lift.yaml deleted file mode 100644 index f855970..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_lift.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_place.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_place.yaml deleted file mode 100644 index 05ac53d..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_place.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: place - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_pregrasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_pregrasp.yaml deleted file mode 100644 index c41af0b..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_pregrasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_grasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_grasp.yaml deleted file mode 100644 index da4fc76..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_grasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_lift.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_lift.yaml deleted file mode 100644 index 07a1573..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_lift.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_place.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_place.yaml deleted file mode 100644 index 0d6a084..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_place.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: place - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_pregrasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_pregrasp.yaml deleted file mode 100644 index 1a9bb5b..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/eval_taxpose_pregrasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - # conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 55ba6b7..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: put_knife_on_chopping_board -- _self_ -dm: - train_dset: - demo_dset: - num_points: 128 -model: - break_symmetry: false - conditional: true - num_points: 128 - z_offset: 0.0 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index 3b86ab3..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index 92f0e88..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index b5d7993..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 5053d1d..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,33 +0,0 @@ -#!/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_all/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_all/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_all/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_all/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_all/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_all/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_all/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_all/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_all/precision_eval/pregrasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/pregrasp.yaml deleted file mode 100644 index ae0b7a1..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/pregrasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_knife_on_chopping_board - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_all.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_all.yaml deleted file mode 100644 index 1a910e7..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_grasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_grasp.yaml deleted file mode 100644 index 5fc8154..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_grasp.yaml +++ /dev/null @@ -1,15 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: grasp - - _self_ - -break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_lift.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_lift.yaml deleted file mode 100644 index 1d15a9c..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_lift.yaml +++ /dev/null @@ -1,15 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: lift - - _self_ - -break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 100 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_place.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_place.yaml deleted file mode 100644 index ade417d..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_place.yaml +++ /dev/null @@ -1,15 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: place - - _self_ - -break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_pregrasp.yaml b/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_pregrasp.yaml deleted file mode 100644 index 9198873..0000000 --- a/configs/commands/rlbench/put_knife_on_chopping_board/train_taxpose_pregrasp.yaml +++ /dev/null @@ -1,15 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_knife_on_chopping_board - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 6cacb4e..0000000 --- a/configs/commands/rlbench/put_money_in_safe/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: put_money_in_safe -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index f6cc745..0000000 --- a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_money_in_safe - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index f5cb444..0000000 --- a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_money_in_safe - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index 175af15..0000000 --- a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_money_in_safe - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index ed3b0b1..0000000 --- a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,40 +0,0 @@ -#!/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_all/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_all/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_all/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_all/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_all/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_all/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_all/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_all/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_all/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_all/precision_eval/place data_root=/data wandb.group=rlbench_put_money_in_safe $@ diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/pregrasp.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/pregrasp.yaml deleted file mode 100644 index 55644ee..0000000 --- a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/pregrasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_money_in_safe - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/preplace.yaml b/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/preplace.yaml deleted file mode 100644 index d2c70fb..0000000 --- a/configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/preplace.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_money_in_safe - - override /phase: preplace - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_money_in_safe/train_taxpose_all.yaml b/configs/commands/rlbench/put_money_in_safe/train_taxpose_all.yaml deleted file mode 100644 index bd9997e..0000000 --- a/configs/commands/rlbench/put_money_in_safe/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_money_in_safe - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/eval_mlat_place.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/eval_mlat_place.yaml deleted file mode 100644 index 160e566..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/eval_mlat_place.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: put_toilet_roll_on_stand - - override /phase: place - - _self_ - -break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/eval_taxpose_place.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/eval_taxpose_place.yaml deleted file mode 100644 index fbffa8f..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/eval_taxpose_place.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: put_toilet_roll_on_stand - - override /phase: place - - _self_ - -break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 35c0076..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: put_toilet_roll_on_stand -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index 8f32b00..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_toilet_roll_on_stand - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index 482b54d..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: put_toilet_roll_on_stand - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index a55db1a..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash - -set -e - -echo 'Running precision eval' - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating grasp' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_put_toilet_roll_on_stand $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_put_toilet_roll_on_stand $@ - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating place' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_put_toilet_roll_on_stand $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/put_toilet_roll_on_stand/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_put_toilet_roll_on_stand $@ diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/train_mlat_place.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/train_mlat_place.yaml deleted file mode 100644 index 20e213f..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/train_mlat_place.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: put_toilet_roll_on_stand - - override /phase: place - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_all.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_all.yaml deleted file mode 100644 index 3c086be..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_toilet_roll_on_stand - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_grasp.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_grasp.yaml deleted file mode 100644 index b8d29bf..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_grasp.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_toilet_roll_on_stand - - override /phase: grasp - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_place.yaml b/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_place.yaml deleted file mode 100644 index 152691c..0000000 --- a/configs/commands/rlbench/put_toilet_roll_on_stand/train_taxpose_place.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: put_toilet_roll_on_stand - - override /phase: place - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/reach_target/eval_rlbench_taxpose_all.yaml b/configs/commands/rlbench/reach_target/eval_rlbench_taxpose_all.yaml deleted file mode 100644 index ce79104..0000000 --- a/configs/commands/rlbench/reach_target/eval_rlbench_taxpose_all.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# @package _global_ - -defaults: - - /eval_rlbench.yaml - - override /model: taxpose_all - - override /task: reach_target - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - num_points: 256 diff --git a/configs/commands/rlbench/reach_target/eval_taxpose_all_reach.yaml b/configs/commands/rlbench/reach_target/eval_taxpose_all_reach.yaml deleted file mode 100644 index 1ce3f19..0000000 --- a/configs/commands/rlbench/reach_target/eval_taxpose_all_reach.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: reach_target - - override /phase: reach - - _self_ - -break_symmetry: False -model: - break_symmetry: False - num_points: 256 diff --git a/configs/commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index ce9f60f..0000000 --- a/configs/commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: reach_target -- _self_ -model: - break_symmetry: false - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/reach_target/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/reach_target/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 0008580..0000000 --- a/configs/commands/rlbench/reach_target/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,12 +0,0 @@ -#!/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_all/precision_eval/reach data_root=/data wandb.group=rlbench_reach_target $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/reach_target/taxpose_all/precision_eval/reach data_root=/data wandb.group=rlbench_reach_target $@ diff --git a/configs/commands/rlbench/reach_target/taxpose_all/precision_eval/reach.yaml b/configs/commands/rlbench/reach_target/taxpose_all/precision_eval/reach.yaml deleted file mode 100644 index fc1bdde..0000000 --- a/configs/commands/rlbench/reach_target/taxpose_all/precision_eval/reach.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: reach_target - - override /phase: reach - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - num_points: 256 diff --git a/configs/commands/rlbench/reach_target/train_taxpose_all.yaml b/configs/commands/rlbench/reach_target/train_taxpose_all.yaml deleted file mode 100644 index cf6a648..0000000 --- a/configs/commands/rlbench/reach_target/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: reach_target - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/reach_target/train_taxpose_reach.yaml b/configs/commands/rlbench/reach_target/train_taxpose_reach.yaml deleted file mode 100644 index 38bb1d1..0000000 --- a/configs/commands/rlbench/reach_target/train_taxpose_reach.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: reach_target - - override /phase: reach - - _self_ - -break_symmetry: False diff --git a/configs/commands/rlbench/slide_block_to_target/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/slide_block_to_target/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 9f0cec8..0000000 --- a/configs/commands/rlbench/slide_block_to_target/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: slide_block_to_target -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/postslide.yaml b/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/postslide.yaml deleted file mode 100644 index 117c10d..0000000 --- a/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/postslide.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: slide_block_to_target - - override /phase: postslide - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 220aff5..0000000 --- a/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/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_all/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_all/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_all/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_all/precision_eval/postslide data_root=/data wandb.group=rlbench_slide_block_to_target $@ diff --git a/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/preslide.yaml b/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/preslide.yaml deleted file mode 100644 index f20d80f..0000000 --- a/configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/preslide.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: slide_block_to_target - - override /phase: preslide - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/slide_block_to_target/train_taxpose_all.yaml b/configs/commands/rlbench/slide_block_to_target/train_taxpose_all.yaml deleted file mode 100644 index 14a4da8..0000000 --- a/configs/commands/rlbench/slide_block_to_target/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: slide_block_to_target - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/solve_puzzle/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/solve_puzzle/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 6757296..0000000 --- a/configs/commands/rlbench/solve_puzzle/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: solve_puzzle -- _self_ -dm: - train_dset: - demo_dset: - num_points: 256 -model: - break_symmetry: false - conditional: true - num_points: 256 - z_offset: 0.0 diff --git a/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index c34cf34..0000000 --- a/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: solve_puzzle - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index 8cf6636..0000000 --- a/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: solve_puzzle - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 30bdd83..0000000 --- a/configs/commands/rlbench/solve_puzzle/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash - -set -e - -echo 'Running precision eval' - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating grasp' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/solve_puzzle/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_solve_puzzle $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/solve_puzzle/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_solve_puzzle $@ - -echo "--------------------------------------------------------------------------------" -echo 'Evaluating place' -echo "--------------------------------------------------------------------------------" -echo "python scripts/eval_metrics.py --config-name commands/rlbench/solve_puzzle/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_solve_puzzle $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/solve_puzzle/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_solve_puzzle $@ diff --git a/configs/commands/rlbench/solve_puzzle/train_mlat_place.yaml b/configs/commands/rlbench/solve_puzzle/train_mlat_place.yaml deleted file mode 100644 index f0118c8..0000000 --- a/configs/commands/rlbench/solve_puzzle/train_mlat_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: solve_puzzle - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/solve_puzzle/train_taxpose_all.yaml b/configs/commands/rlbench/solve_puzzle/train_taxpose_all.yaml deleted file mode 100644 index bff5448..0000000 --- a/configs/commands/rlbench/solve_puzzle/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: solve_puzzle - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/solve_puzzle/train_taxpose_place.yaml b/configs/commands/rlbench/solve_puzzle/train_taxpose_place.yaml deleted file mode 100644 index 2819ccf..0000000 --- a/configs/commands/rlbench/solve_puzzle/train_taxpose_place.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: solve_puzzle - - override /phase: place - - _self_ - -break_symmetry: False - -model: - break_symmetry: False - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/stack_wine/eval_mlat_place.yaml b/configs/commands/rlbench/stack_wine/eval_mlat_place.yaml deleted file mode 100644 index 7a0fc81..0000000 --- a/configs/commands/rlbench/stack_wine/eval_mlat_place.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/stack_wine/eval_taxpose_place.yaml b/configs/commands/rlbench/stack_wine/eval_taxpose_place.yaml deleted file mode 100644 index 9e09187..0000000 --- a/configs/commands/rlbench/stack_wine/eval_taxpose_place.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True - -dm: - train_dset: - num_points: 256 diff --git a/configs/commands/rlbench/stack_wine/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/stack_wine/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index 5e2b550..0000000 --- a/configs/commands/rlbench/stack_wine/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: stack_wine -- _self_ -model: - break_symmetry: false - conditional: true - z_offset: 0.0 diff --git a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index 15aaa64..0000000 --- a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: stack_wine - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True diff --git a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index df8d6ea..0000000 --- a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: stack_wine - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - conditional: True diff --git a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index f223e67..0000000 --- a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True diff --git a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 4fea5a7..0000000 --- a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,40 +0,0 @@ -#!/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_all/precision_eval/pregrasp data_root=/data wandb.group=rlbench_stack_wine $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_all/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_all/precision_eval/grasp data_root=/data wandb.group=rlbench_stack_wine $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_all/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_all/precision_eval/lift data_root=/data wandb.group=rlbench_stack_wine $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_all/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_all/precision_eval/preplace data_root=/data wandb.group=rlbench_stack_wine $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_all/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_all/precision_eval/place data_root=/data wandb.group=rlbench_stack_wine $@" - -python scripts/eval_metrics.py --config-name commands/rlbench/stack_wine/taxpose_all/precision_eval/place data_root=/data wandb.group=rlbench_stack_wine $@ diff --git a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/pregrasp.yaml b/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/pregrasp.yaml deleted file mode 100644 index 1e27d6d..0000000 --- a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/pregrasp.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: stack_wine - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - conditional: True diff --git a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/preplace.yaml b/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/preplace.yaml deleted file mode 100644 index d21ad66..0000000 --- a/configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/preplace.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: stack_wine - - override /phase: preplace - - _self_ - -break_symmetry: False - -model: - conditional: True diff --git a/configs/commands/rlbench/stack_wine/train_mlat_place.yaml b/configs/commands/rlbench/stack_wine/train_mlat_place.yaml deleted file mode 100644 index 02dbdf0..0000000 --- a/configs/commands/rlbench/stack_wine/train_mlat_place.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: mlat_s256_vnn - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/stack_wine/train_taxpose_all.yaml b/configs/commands/rlbench/stack_wine/train_taxpose_all.yaml deleted file mode 100644 index a439c68..0000000 --- a/configs/commands/rlbench/stack_wine/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/stack_wine/train_taxpose_grasp.yaml b/configs/commands/rlbench/stack_wine/train_taxpose_grasp.yaml deleted file mode 100644 index 6587bde..0000000 --- a/configs/commands/rlbench/stack_wine/train_taxpose_grasp.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: grasp - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/stack_wine/train_taxpose_lift.yaml b/configs/commands/rlbench/stack_wine/train_taxpose_lift.yaml deleted file mode 100644 index e20ca75..0000000 --- a/configs/commands/rlbench/stack_wine/train_taxpose_lift.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: lift - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/stack_wine/train_taxpose_place.yaml b/configs/commands/rlbench/stack_wine/train_taxpose_place.yaml deleted file mode 100644 index 7b26498..0000000 --- a/configs/commands/rlbench/stack_wine/train_taxpose_place.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: place - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/stack_wine/train_taxpose_pregrasp.yaml b/configs/commands/rlbench/stack_wine/train_taxpose_pregrasp.yaml deleted file mode 100644 index 46777a7..0000000 --- a/configs/commands/rlbench/stack_wine/train_taxpose_pregrasp.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: pregrasp - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/stack_wine/train_taxpose_preplace.yaml b/configs/commands/rlbench/stack_wine/train_taxpose_preplace.yaml deleted file mode 100644 index 3f56568..0000000 --- a/configs/commands/rlbench/stack_wine/train_taxpose_preplace.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: stack_wine - - override /phase: preplace - - _self_ - -break_symmetry: True diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index a21f707..0000000 --- a/configs/commands/rlbench/take_money_out_safe/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: take_money_out_safe -- _self_ -dm: - train_dset: - demo_dset: - num_points: 128 -model: - break_symmetry: false - conditional: true - num_points: 128 - z_offset: 0.0 diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index b9cdd59..0000000 --- a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: take_money_out_safe - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index c969933..0000000 --- a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: take_money_out_safe - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/place.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/place.yaml deleted file mode 100644 index 5def46c..0000000 --- a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/place.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: take_money_out_safe - - override /phase: place - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 29da4d8..0000000 --- a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,33 +0,0 @@ -#!/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_all/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_all/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_all/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_all/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_all/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_all/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_all/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_all/precision_eval/place data_root=/data wandb.group=rlbench_take_money_out_safe $@ diff --git a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/pregrasp.yaml b/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/pregrasp.yaml deleted file mode 100644 index 564903b..0000000 --- a/configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/pregrasp.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: take_money_out_safe - - override /phase: pregrasp - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/take_money_out_safe/train_taxpose_all.yaml b/configs/commands/rlbench/take_money_out_safe/train_taxpose_all.yaml deleted file mode 100644 index 7645c93..0000000 --- a/configs/commands/rlbench/take_money_out_safe/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: take_money_out_safe - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/eval_rlbench.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/eval_rlbench.yaml deleted file mode 100644 index ebfd9b2..0000000 --- a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/eval_rlbench.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# @package _global_ - -break_symmetry: false -defaults: -- /eval_rlbench.yaml -- override /model: taxpose_all -- override /task: take_umbrella_out_of_umbrella_stand -- _self_ -dm: - train_dset: - demo_dset: - num_points: 128 -model: - break_symmetry: false - conditional: true - num_points: 128 - z_offset: 0.0 diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/grasp.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/grasp.yaml deleted file mode 100644 index 00f1feb..0000000 --- a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/grasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: take_umbrella_out_of_umbrella_stand - - override /phase: grasp - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/lift.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/lift.yaml deleted file mode 100644 index f3975c9..0000000 --- a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/lift.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: take_umbrella_out_of_umbrella_stand - - override /phase: lift - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/precision_eval.sh b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/precision_eval.sh deleted file mode 100755 index 9dbc255..0000000 --- a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/precision_eval.sh +++ /dev/null @@ -1,26 +0,0 @@ -#!/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_all/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_all/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_all/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_all/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_all/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_all/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_all/precision_eval/pregasp.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/pregasp.yaml deleted file mode 100644 index 23a005b..0000000 --- a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/pregasp.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_eval@_here_ - - override /model: taxpose_all - - override /task: take_umbrella_out_of_umbrella_stand - - override /phase: pregasp - - _self_ - -break_symmetry: False - -model: - conditional: True - break_symmetry: False - -dm: - train_dset: - demo_dset: - num_points: 128 diff --git a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/run_all.sh b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/run_all.sh deleted file mode 100755 index 0134d9b..0000000 --- a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/run_all.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash - -echo "------------------------------------------------------------------------------------------------------------------------" -echo "Running precision evaluation for take_umbrella_out_of_umbrella_stand task with taxpose_all model, pregasp" -echo "------------------------------------------------------------------------------------------------------------------------" -python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/pregasp data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand - -echo "------------------------------------------------------------------------------------------------------------------------" -echo "Running precision evaluation for take_umbrella_out_of_umbrella_stand task with taxpose_all model, grasp" -echo "------------------------------------------------------------------------------------------------------------------------" -python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/grasp data_root=/data wandb.group=rlbench_take_umbrella_out_of_umbrella_stand - -echo "------------------------------------------------------------------------------------------------------------------------" -echo "Running precision evaluation for take_umbrella_out_of_umbrella_stand task with taxpose_all model, lift" -echo "------------------------------------------------------------------------------------------------------------------------" -python scripts/eval_metrics.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/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/train_taxpose_all.yaml b/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_all.yaml deleted file mode 100644 index 4234774..0000000 --- a/configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_all.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# @package _global_ - -defaults: - - /commands/rlbench/_train@_here_ - - override /model: taxpose - - override /task: take_umbrella_out_of_umbrella_stand - - override /phase: all - - _self_ - -break_symmetry: False - -model: - conditional: True - -dm: - train_dset: - demo_dset: - num_points: 256 diff --git a/configs/dataset/real_world_mug/mug_place.yaml b/configs/dataset/real_world_mug/mug_place.yaml deleted file mode 100644 index 0a9c37a..0000000 --- a/configs/dataset/real_world_mug/mug_place.yaml +++ /dev/null @@ -1,49 +0,0 @@ -# Dataset Settings -train_dset: - demo_dset: - dataset_type: real_world_mug - dataset_root: ${benchmark.dataset_root} - dataset_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - start_anchor: True - min_num_cameras: 4 - max_num_cameras: 4 - num_points: 1024 - action_class: ${task.action_class} - anchor_class: ${task.anchor_class} - -val_dset: - demo_dset: - dataset_type: ${...train_dset.demo_dset.dataset_type} - dataset_root: ${benchmark.dataset_root} - dataset_indices: - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - start_anchor: ${...train_dset.demo_dset.start_anchor} - min_num_cameras: ${...train_dset.demo_dset.min_num_cameras} - max_num_cameras: ${...train_dset.demo_dset.max_num_cameras} - num_points: ${...train_dset.demo_dset.num_points} - action_class: ${task.action_class} - anchor_class: ${task.anchor_class} - -test_dset: - demo_dset: - dataset_indices: null - num_demo: null diff --git a/configs/dataset/rlbench/_default.yaml b/configs/dataset/rlbench/_default.yaml deleted file mode 100644 index f34c6f3..0000000 --- a/configs/dataset/rlbench/_default.yaml +++ /dev/null @@ -1,57 +0,0 @@ - -# This is the general structure of the datamodule for NDF tasks. -defaults: - - ../@train_dset.demo_dset.occlusion_cfg: _augmentations - - ../@val_dset.demo_dset.occlusion_cfg: _augmentations - - ../@test_dset.demo_dset.occlusion_cfg: _augmentations - -train_dset: - demo_dset: - dataset_root: ${benchmark.dataset_root} - task_name: ${task.name} - use_first_as_init_keyframe: False - episodes: all - action_class: ${task.phase.action_class} - anchor_class: ${task.phase.anchor_class} - cached: true - phase: ${task.phase.name} - teleport_initial_to_final: true - with_symmetry: True - occlusion_cfg: ??? - num_points: 256 - action_mode: "object" - anchor_mode: "single_object" - -val_dset: - demo_dset: - dataset_root: ${benchmark.dataset_root} - task_name: ${task.name} - use_first_as_init_keyframe: False - episodes: all - action_class: ${task.phase.action_class} - anchor_class: ${task.phase.anchor_class} - cached: true - phase: ${task.phase.name} - teleport_initial_to_final: true - with_symmetry: True - occlusion_cfg: ??? - num_points: ${...train_dset.demo_dset.num_points} - action_mode: ${...train_dset.demo_dset.action_mode} - anchor_mode: ${...train_dset.demo_dset.anchor_mode} - -test_dset: - demo_dset: - dataset_root: ${benchmark.dataset_root} - task_name: ${task.name} - use_first_as_init_keyframe: False - episodes: all - action_class: ${task.phase.action_class} - anchor_class: ${task.phase.anchor_class} - cached: true - phase: ${task.phase.name} - teleport_initial_to_final: true - with_symmetry: True - occlusion_cfg: ??? - num_points: ${...train_dset.demo_dset.num_points} - action_mode: ${...train_dset.demo_dset.action_mode} - anchor_mode: ${...train_dset.demo_dset.anchor_mode} diff --git a/configs/dataset/rlbench/_default/_default.yaml b/configs/dataset/rlbench/_default/_default.yaml deleted file mode 100644 index 785b024..0000000 --- a/configs/dataset/rlbench/_default/_default.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - ../_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - # - 1 - # - 2 - # - 3 - # - 4 - # - 5 - # - 6 - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # - 0 diff --git a/configs/dataset/rlbench/_default/all.yaml b/configs/dataset/rlbench/_default/all.yaml deleted file mode 100644 index 1cf3880..0000000 --- a/configs/dataset/rlbench/_default/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: - - rlbench/DEFAULT/_default@_here_ - - _self_ diff --git a/configs/dataset/rlbench/_default/reach.yaml b/configs/dataset/rlbench/_default/reach.yaml deleted file mode 100644 index 1cf3880..0000000 --- a/configs/dataset/rlbench/_default/reach.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: - - rlbench/DEFAULT/_default@_here_ - - _self_ diff --git a/configs/dataset/rlbench/insert_onto_square_peg/_default.yaml b/configs/dataset/rlbench/insert_onto_square_peg/_default.yaml deleted file mode 100644 index 785b024..0000000 --- a/configs/dataset/rlbench/insert_onto_square_peg/_default.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - ../_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - # - 1 - # - 2 - # - 3 - # - 4 - # - 5 - # - 6 - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # - 0 diff --git a/configs/dataset/rlbench/insert_onto_square_peg/all.yaml b/configs/dataset/rlbench/insert_onto_square_peg/all.yaml deleted file mode 100644 index 1f29e3e..0000000 --- a/configs/dataset/rlbench/insert_onto_square_peg/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/insert_onto_square_peg/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/insert_onto_square_peg/grasp.yaml b/configs/dataset/rlbench/insert_onto_square_peg/grasp.yaml deleted file mode 100644 index 1f29e3e..0000000 --- a/configs/dataset/rlbench/insert_onto_square_peg/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/insert_onto_square_peg/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/insert_onto_square_peg/place.yaml b/configs/dataset/rlbench/insert_onto_square_peg/place.yaml deleted file mode 100644 index 1f29e3e..0000000 --- a/configs/dataset/rlbench/insert_onto_square_peg/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/insert_onto_square_peg/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/insert_onto_square_peg_grasp.yaml b/configs/dataset/rlbench/insert_onto_square_peg_grasp.yaml deleted file mode 100644 index 7116077..0000000 --- a/configs/dataset/rlbench/insert_onto_square_peg_grasp.yaml +++ /dev/null @@ -1,31 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # Only include center peg. - - 0 - - 1 - # - 2 - - 3 # This episode is broken under occlusion, too few points on the peg. - # - 4 - # - 5 # This episode is broken under occlusion, too few points on the peg. - # - 6 # This episode is broken under occlusion, too few points on the peg. - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/insert_onto_square_peg_place.yaml b/configs/dataset/rlbench/insert_onto_square_peg_place.yaml deleted file mode 100644 index 7116077..0000000 --- a/configs/dataset/rlbench/insert_onto_square_peg_place.yaml +++ /dev/null @@ -1,31 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # Only include center peg. - - 0 - - 1 - # - 2 - - 3 # This episode is broken under occlusion, too few points on the peg. - # - 4 - # - 5 # This episode is broken under occlusion, too few points on the peg. - # - 6 # This episode is broken under occlusion, too few points on the peg. - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/phone_on_base/_default.yaml b/configs/dataset/rlbench/phone_on_base/_default.yaml deleted file mode 100644 index 785b024..0000000 --- a/configs/dataset/rlbench/phone_on_base/_default.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - ../_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - # - 1 - # - 2 - # - 3 - # - 4 - # - 5 - # - 6 - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # - 0 diff --git a/configs/dataset/rlbench/phone_on_base/all.yaml b/configs/dataset/rlbench/phone_on_base/all.yaml deleted file mode 100644 index a2b7dc8..0000000 --- a/configs/dataset/rlbench/phone_on_base/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/phone_on_base/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/phone_on_base/grasp.yaml b/configs/dataset/rlbench/phone_on_base/grasp.yaml deleted file mode 100644 index a2b7dc8..0000000 --- a/configs/dataset/rlbench/phone_on_base/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/phone_on_base/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/phone_on_base/lift.yaml b/configs/dataset/rlbench/phone_on_base/lift.yaml deleted file mode 100644 index a2b7dc8..0000000 --- a/configs/dataset/rlbench/phone_on_base/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/phone_on_base/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/phone_on_base/place.yaml b/configs/dataset/rlbench/phone_on_base/place.yaml deleted file mode 100644 index a2b7dc8..0000000 --- a/configs/dataset/rlbench/phone_on_base/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/phone_on_base/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/phone_on_base/pregrasp.yaml b/configs/dataset/rlbench/phone_on_base/pregrasp.yaml deleted file mode 100644 index a2b7dc8..0000000 --- a/configs/dataset/rlbench/phone_on_base/pregrasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/phone_on_base/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/phone_on_base_grasp.yaml b/configs/dataset/rlbench/phone_on_base_grasp.yaml deleted file mode 100644 index 56d2d9d..0000000 --- a/configs/dataset/rlbench/phone_on_base_grasp.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/phone_on_base_place.yaml b/configs/dataset/rlbench/phone_on_base_place.yaml deleted file mode 100644 index 56d2d9d..0000000 --- a/configs/dataset/rlbench/phone_on_base_place.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/pick_and_lift/_default.yaml b/configs/dataset/rlbench/pick_and_lift/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/pick_and_lift/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/pick_and_lift/all.yaml b/configs/dataset/rlbench/pick_and_lift/all.yaml deleted file mode 100644 index 43ca875..0000000 --- a/configs/dataset/rlbench/pick_and_lift/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_and_lift/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/final.yaml b/configs/dataset/rlbench/pick_and_lift/final.yaml deleted file mode 100644 index 43ca875..0000000 --- a/configs/dataset/rlbench/pick_and_lift/final.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_and_lift/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/grasp.yaml b/configs/dataset/rlbench/pick_and_lift/grasp.yaml deleted file mode 100644 index 43ca875..0000000 --- a/configs/dataset/rlbench/pick_and_lift/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_and_lift/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/lift.yaml b/configs/dataset/rlbench/pick_and_lift/lift.yaml deleted file mode 100644 index 43ca875..0000000 --- a/configs/dataset/rlbench/pick_and_lift/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_and_lift/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/pregrasp.yaml b/configs/dataset/rlbench/pick_and_lift/pregrasp.yaml deleted file mode 100644 index 43ca875..0000000 --- a/configs/dataset/rlbench/pick_and_lift/pregrasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_and_lift/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/_default.yaml b/configs/dataset/rlbench/pick_up_cup/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/pick_up_cup/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/pick_up_cup/all.yaml b/configs/dataset/rlbench/pick_up_cup/all.yaml deleted file mode 100644 index fe1de87..0000000 --- a/configs/dataset/rlbench/pick_up_cup/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_up_cup/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/grasp.yaml b/configs/dataset/rlbench/pick_up_cup/grasp.yaml deleted file mode 100644 index fe1de87..0000000 --- a/configs/dataset/rlbench/pick_up_cup/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_up_cup/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/lift.yaml b/configs/dataset/rlbench/pick_up_cup/lift.yaml deleted file mode 100644 index fe1de87..0000000 --- a/configs/dataset/rlbench/pick_up_cup/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_up_cup/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/pregrasp.yaml b/configs/dataset/rlbench/pick_up_cup/pregrasp.yaml deleted file mode 100644 index fe1de87..0000000 --- a/configs/dataset/rlbench/pick_up_cup/pregrasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/pick_up_cup/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/place_hanger_on_rack/_default.yaml b/configs/dataset/rlbench/place_hanger_on_rack/_default.yaml deleted file mode 100644 index 785b024..0000000 --- a/configs/dataset/rlbench/place_hanger_on_rack/_default.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - ../_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - # - 1 - # - 2 - # - 3 - # - 4 - # - 5 - # - 6 - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # - 0 diff --git a/configs/dataset/rlbench/place_hanger_on_rack/all.yaml b/configs/dataset/rlbench/place_hanger_on_rack/all.yaml deleted file mode 100644 index f91517d..0000000 --- a/configs/dataset/rlbench/place_hanger_on_rack/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/place_hanger_on_rack/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/place_hanger_on_rack/grasp.yaml b/configs/dataset/rlbench/place_hanger_on_rack/grasp.yaml deleted file mode 100644 index f91517d..0000000 --- a/configs/dataset/rlbench/place_hanger_on_rack/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/place_hanger_on_rack/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/place_hanger_on_rack/place.yaml b/configs/dataset/rlbench/place_hanger_on_rack/place.yaml deleted file mode 100644 index f91517d..0000000 --- a/configs/dataset/rlbench/place_hanger_on_rack/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/place_hanger_on_rack/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/place_hanger_on_rack_grasp.yaml b/configs/dataset/rlbench/place_hanger_on_rack_grasp.yaml deleted file mode 100644 index 56d2d9d..0000000 --- a/configs/dataset/rlbench/place_hanger_on_rack_grasp.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/place_hanger_on_rack_place.yaml b/configs/dataset/rlbench/place_hanger_on_rack_place.yaml deleted file mode 100644 index 56d2d9d..0000000 --- a/configs/dataset/rlbench/place_hanger_on_rack_place.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/push_button/_default.yaml b/configs/dataset/rlbench/push_button/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/push_button/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/push_button/all.yaml b/configs/dataset/rlbench/push_button/all.yaml deleted file mode 100644 index d2ab637..0000000 --- a/configs/dataset/rlbench/push_button/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/push_button/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/push_button/postpush.yaml b/configs/dataset/rlbench/push_button/postpush.yaml deleted file mode 100644 index d2ab637..0000000 --- a/configs/dataset/rlbench/push_button/postpush.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/push_button/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/push_button/prepush.yaml b/configs/dataset/rlbench/push_button/prepush.yaml deleted file mode 100644 index d2ab637..0000000 --- a/configs/dataset/rlbench/push_button/prepush.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/push_button/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml deleted file mode 100644 index 08f3d76..0000000 --- a/configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_knife_on_chopping_board/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml deleted file mode 100644 index 08f3d76..0000000 --- a/configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_knife_on_chopping_board/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml deleted file mode 100644 index 08f3d76..0000000 --- a/configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_knife_on_chopping_board/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml deleted file mode 100644 index 08f3d76..0000000 --- a/configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_knife_on_chopping_board/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml deleted file mode 100644 index 08f3d76..0000000 --- a/configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_knife_on_chopping_board/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/_default.yaml b/configs/dataset/rlbench/put_money_in_safe/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/put_money_in_safe/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/put_money_in_safe/all.yaml b/configs/dataset/rlbench/put_money_in_safe/all.yaml deleted file mode 100644 index f93c3a9..0000000 --- a/configs/dataset/rlbench/put_money_in_safe/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_money_in_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/grasp.yaml b/configs/dataset/rlbench/put_money_in_safe/grasp.yaml deleted file mode 100644 index f93c3a9..0000000 --- a/configs/dataset/rlbench/put_money_in_safe/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_money_in_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/lift.yaml b/configs/dataset/rlbench/put_money_in_safe/lift.yaml deleted file mode 100644 index f93c3a9..0000000 --- a/configs/dataset/rlbench/put_money_in_safe/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_money_in_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/place.yaml b/configs/dataset/rlbench/put_money_in_safe/place.yaml deleted file mode 100644 index f93c3a9..0000000 --- a/configs/dataset/rlbench/put_money_in_safe/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_money_in_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml b/configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml deleted file mode 100644 index f93c3a9..0000000 --- a/configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_money_in_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/preplace.yaml b/configs/dataset/rlbench/put_money_in_safe/preplace.yaml deleted file mode 100644 index f93c3a9..0000000 --- a/configs/dataset/rlbench/put_money_in_safe/preplace.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_money_in_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_toilet_roll_on_stand/_default.yaml b/configs/dataset/rlbench/put_toilet_roll_on_stand/_default.yaml deleted file mode 100644 index 785b024..0000000 --- a/configs/dataset/rlbench/put_toilet_roll_on_stand/_default.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - ../_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - # - 1 - # - 2 - # - 3 - # - 4 - # - 5 - # - 6 - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # - 0 diff --git a/configs/dataset/rlbench/put_toilet_roll_on_stand/all.yaml b/configs/dataset/rlbench/put_toilet_roll_on_stand/all.yaml deleted file mode 100644 index 5799c8b..0000000 --- a/configs/dataset/rlbench/put_toilet_roll_on_stand/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_toilet_roll_on_stand/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_toilet_roll_on_stand/grasp.yaml b/configs/dataset/rlbench/put_toilet_roll_on_stand/grasp.yaml deleted file mode 100644 index 5799c8b..0000000 --- a/configs/dataset/rlbench/put_toilet_roll_on_stand/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_toilet_roll_on_stand/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_toilet_roll_on_stand/place.yaml b/configs/dataset/rlbench/put_toilet_roll_on_stand/place.yaml deleted file mode 100644 index 5799c8b..0000000 --- a/configs/dataset/rlbench/put_toilet_roll_on_stand/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/put_toilet_roll_on_stand/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/put_toilet_roll_on_stand_grasp.yaml b/configs/dataset/rlbench/put_toilet_roll_on_stand_grasp.yaml deleted file mode 100644 index 56d2d9d..0000000 --- a/configs/dataset/rlbench/put_toilet_roll_on_stand_grasp.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/put_toilet_roll_on_stand_place.yaml b/configs/dataset/rlbench/put_toilet_roll_on_stand_place.yaml deleted file mode 100644 index 56d2d9d..0000000 --- a/configs/dataset/rlbench/put_toilet_roll_on_stand_place.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/reach_target/_default.yaml b/configs/dataset/rlbench/reach_target/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/reach_target/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/reach_target/all.yaml b/configs/dataset/rlbench/reach_target/all.yaml deleted file mode 100644 index 6341510..0000000 --- a/configs/dataset/rlbench/reach_target/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/reach_target/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/reach_target/reach.yaml b/configs/dataset/rlbench/reach_target/reach.yaml deleted file mode 100644 index 6341510..0000000 --- a/configs/dataset/rlbench/reach_target/reach.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/reach_target/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/slide_block_to_target/_default.yaml b/configs/dataset/rlbench/slide_block_to_target/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/slide_block_to_target/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/slide_block_to_target/all.yaml b/configs/dataset/rlbench/slide_block_to_target/all.yaml deleted file mode 100644 index 9470dc9..0000000 --- a/configs/dataset/rlbench/slide_block_to_target/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/slide_block_to_target/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/slide_block_to_target/postslide.yaml b/configs/dataset/rlbench/slide_block_to_target/postslide.yaml deleted file mode 100644 index 9470dc9..0000000 --- a/configs/dataset/rlbench/slide_block_to_target/postslide.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/slide_block_to_target/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/slide_block_to_target/preslide.yaml b/configs/dataset/rlbench/slide_block_to_target/preslide.yaml deleted file mode 100644 index 9470dc9..0000000 --- a/configs/dataset/rlbench/slide_block_to_target/preslide.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/slide_block_to_target/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/solve_puzzle/_default.yaml b/configs/dataset/rlbench/solve_puzzle/_default.yaml deleted file mode 100644 index 785b024..0000000 --- a/configs/dataset/rlbench/solve_puzzle/_default.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - ../_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - # - 1 - # - 2 - # - 3 - # - 4 - # - 5 - # - 6 - # - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - # - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - # - 0 diff --git a/configs/dataset/rlbench/solve_puzzle/all.yaml b/configs/dataset/rlbench/solve_puzzle/all.yaml deleted file mode 100644 index 8fb5645..0000000 --- a/configs/dataset/rlbench/solve_puzzle/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/solve_puzzle/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/solve_puzzle/grasp.yaml b/configs/dataset/rlbench/solve_puzzle/grasp.yaml deleted file mode 100644 index 8fb5645..0000000 --- a/configs/dataset/rlbench/solve_puzzle/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/solve_puzzle/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/solve_puzzle/place.yaml b/configs/dataset/rlbench/solve_puzzle/place.yaml deleted file mode 100644 index 8fb5645..0000000 --- a/configs/dataset/rlbench/solve_puzzle/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/solve_puzzle/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/solve_puzzle_place.yaml b/configs/dataset/rlbench/solve_puzzle_place.yaml deleted file mode 100644 index 56d2d9d..0000000 --- a/configs/dataset/rlbench/solve_puzzle_place.yaml +++ /dev/null @@ -1,30 +0,0 @@ -defaults: - - rlbench/_default@_here_ - - _self_ - -# Dataset Settings -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 8 - - 9 - -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 diff --git a/configs/dataset/rlbench/stack_wine/_default.yaml b/configs/dataset/rlbench/stack_wine/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/stack_wine/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/stack_wine/all.yaml b/configs/dataset/rlbench/stack_wine/all.yaml deleted file mode 100644 index 668468e..0000000 --- a/configs/dataset/rlbench/stack_wine/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/stack_wine/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/stack_wine/grasp.yaml b/configs/dataset/rlbench/stack_wine/grasp.yaml deleted file mode 100644 index 668468e..0000000 --- a/configs/dataset/rlbench/stack_wine/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/stack_wine/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/stack_wine/lift.yaml b/configs/dataset/rlbench/stack_wine/lift.yaml deleted file mode 100644 index 668468e..0000000 --- a/configs/dataset/rlbench/stack_wine/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/stack_wine/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/stack_wine/place.yaml b/configs/dataset/rlbench/stack_wine/place.yaml deleted file mode 100644 index 668468e..0000000 --- a/configs/dataset/rlbench/stack_wine/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/stack_wine/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/stack_wine/pregrasp.yaml b/configs/dataset/rlbench/stack_wine/pregrasp.yaml deleted file mode 100644 index 668468e..0000000 --- a/configs/dataset/rlbench/stack_wine/pregrasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/stack_wine/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/stack_wine/preplace.yaml b/configs/dataset/rlbench/stack_wine/preplace.yaml deleted file mode 100644 index 668468e..0000000 --- a/configs/dataset/rlbench/stack_wine/preplace.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/stack_wine/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/_default.yaml b/configs/dataset/rlbench/take_money_out_safe/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/take_money_out_safe/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/take_money_out_safe/all.yaml b/configs/dataset/rlbench/take_money_out_safe/all.yaml deleted file mode 100644 index ed0a39e..0000000 --- a/configs/dataset/rlbench/take_money_out_safe/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_money_out_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/grasp.yaml b/configs/dataset/rlbench/take_money_out_safe/grasp.yaml deleted file mode 100644 index ed0a39e..0000000 --- a/configs/dataset/rlbench/take_money_out_safe/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_money_out_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/lift.yaml b/configs/dataset/rlbench/take_money_out_safe/lift.yaml deleted file mode 100644 index ed0a39e..0000000 --- a/configs/dataset/rlbench/take_money_out_safe/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_money_out_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/place.yaml b/configs/dataset/rlbench/take_money_out_safe/place.yaml deleted file mode 100644 index ed0a39e..0000000 --- a/configs/dataset/rlbench/take_money_out_safe/place.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_money_out_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml b/configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml deleted file mode 100644 index ed0a39e..0000000 --- a/configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_money_out_safe/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml deleted file mode 100644 index dfcd518..0000000 --- a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml +++ /dev/null @@ -1,125 +0,0 @@ -defaults: -- ../_default@_here_ -- _self_ -test_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: null -train_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - - 16 - - 17 - - 18 - - 19 - - 20 - - 21 - - 22 - - 23 - - 24 - - 25 - - 26 - - 27 - - 28 - - 29 - - 30 - - 31 - - 32 - - 33 - - 34 - - 35 - - 36 - - 37 - - 38 - - 39 - - 40 - - 41 - - 42 - - 43 - - 44 - - 45 - - 46 - - 47 - - 48 - - 49 - - 50 - - 51 - - 52 - - 53 - - 54 - - 55 - - 56 - - 57 - - 58 - - 59 - - 60 - - 61 - - 62 - - 63 - - 64 - - 65 - - 66 - - 67 - - 68 - - 69 - - 70 - - 71 - - 72 - - 73 - - 74 - - 75 - - 76 - - 77 - - 78 - - 79 - - 80 - - 81 - - 82 - - 83 - - 84 - - 85 - - 86 - - 87 - - 88 - - 89 - - 90 - - 91 - - 92 - - 93 - - 94 - - 95 - - 96 - - 97 - - 98 - - 99 -val_dset: - demo_dset: - dataset_type: ${benchmark.name} - episodes: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml deleted file mode 100644 index 407a75b..0000000 --- a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml deleted file mode 100644 index 407a75b..0000000 --- a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml deleted file mode 100644 index 407a75b..0000000 --- a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ -- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml deleted file mode 100644 index 407a75b..0000000 --- a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ -- _self_ diff --git a/configs/model/_mlat.yaml b/configs/model/_mlat.yaml deleted file mode 100644 index b6e9440..0000000 --- a/configs/model/_mlat.yaml +++ /dev/null @@ -1,7 +0,0 @@ -defaults: - - _taxpose - -multilaterate: True -mlat_sample: True -mlat_nkps: 256 -break_symmetry: True diff --git a/configs/model/mlat_n256_ns.yaml b/configs/model/mlat_n256_ns.yaml deleted file mode 100644 index ab4dc52..0000000 --- a/configs/model/mlat_n256_ns.yaml +++ /dev/null @@ -1,9 +0,0 @@ -defaults: - - _mlat - -name: mlat_n256_ns - -num_points: 256 -multilaterate: True -mlat_sample: False -mlat_nkps: null diff --git a/configs/model/mlat_s100.yaml b/configs/model/mlat_s100.yaml deleted file mode 100644 index f2a05c0..0000000 --- a/configs/model/mlat_s100.yaml +++ /dev/null @@ -1,8 +0,0 @@ -defaults: - - _mlat - -name: mlat_s100 - -multilaterate: True -mlat_sample: True -mlat_nkps: 100 diff --git a/configs/model/mlat_s100_vnn.yaml b/configs/model/mlat_s100_vnn.yaml deleted file mode 100644 index efb460c..0000000 --- a/configs/model/mlat_s100_vnn.yaml +++ /dev/null @@ -1,10 +0,0 @@ -defaults: - - _mlat - -name: mlat_s100_vnn - -emb_nn: "vn_dgcnn" - -multilaterate: True -mlat_sample: True -mlat_nkps: 100 diff --git a/configs/model/mlat_s256.yaml b/configs/model/mlat_s256.yaml deleted file mode 100644 index a51c4fc..0000000 --- a/configs/model/mlat_s256.yaml +++ /dev/null @@ -1,8 +0,0 @@ -defaults: - - _mlat - -name: mlat_s256 - -multilaterate: True -mlat_sample: True -mlat_nkps: 256 diff --git a/configs/model/mlat_s256_vnn.yaml b/configs/model/mlat_s256_vnn.yaml deleted file mode 100644 index 39acce1..0000000 --- a/configs/model/mlat_s256_vnn.yaml +++ /dev/null @@ -1,10 +0,0 @@ -defaults: - - _mlat - -name: mlat_s256_vnn - -emb_nn: "vn_dgcnn" - -multilaterate: True -mlat_sample: True -mlat_nkps: 256 diff --git a/configs/object_class/insert_onto_square_peg.yaml b/configs/object_class/insert_onto_square_peg.yaml deleted file mode 100644 index 643358f..0000000 --- a/configs/object_class/insert_onto_square_peg.yaml +++ /dev/null @@ -1 +0,0 @@ -name: insert_onto_square_peg diff --git a/configs/object_class/phone_on_base.yaml b/configs/object_class/phone_on_base.yaml deleted file mode 100644 index 722d1eb..0000000 --- a/configs/object_class/phone_on_base.yaml +++ /dev/null @@ -1 +0,0 @@ -name: phone_on_base diff --git a/configs/object_class/place_hanger_on_rack.yaml b/configs/object_class/place_hanger_on_rack.yaml deleted file mode 100644 index a0dc33b..0000000 --- a/configs/object_class/place_hanger_on_rack.yaml +++ /dev/null @@ -1 +0,0 @@ -name: place_hanger_on_rack diff --git a/configs/object_class/put_toilet_roll_on_stand.yaml b/configs/object_class/put_toilet_roll_on_stand.yaml deleted file mode 100644 index 94e6001..0000000 --- a/configs/object_class/put_toilet_roll_on_stand.yaml +++ /dev/null @@ -1 +0,0 @@ -name: put_toilet_roll_on_stand diff --git a/configs/object_class/solve_puzzle.yaml b/configs/object_class/solve_puzzle.yaml deleted file mode 100644 index 9826fc8..0000000 --- a/configs/object_class/solve_puzzle.yaml +++ /dev/null @@ -1 +0,0 @@ -name: solve_puzzle diff --git a/configs/object_class/stack_wine.yaml b/configs/object_class/stack_wine.yaml deleted file mode 100644 index b4d1b8a..0000000 --- a/configs/object_class/stack_wine.yaml +++ /dev/null @@ -1 +0,0 @@ -name: stack_wine diff --git a/configs/task/rlbench/_default/phase/all.yaml b/configs/task/rlbench/_default/phase/all.yaml deleted file mode 100644 index b2fb6de..0000000 --- a/configs/task/rlbench/_default/phase/all.yaml +++ /dev/null @@ -1,5 +0,0 @@ -name: all -action_class: Null -anchor_class: Null -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/_default/phase/pregrasp.yaml b/configs/task/rlbench/_default/phase/pregrasp.yaml deleted file mode 100644 index 64bfa53..0000000 --- a/configs/task/rlbench/_default/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -name: DEFAULT -action_class: DEFAULT -anchor_class: DEFAULT -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/_default/task.yaml b/configs/task/rlbench/_default/task.yaml deleted file mode 100644 index eb82828..0000000 --- a/configs/task/rlbench/_default/task.yaml +++ /dev/null @@ -1,4 +0,0 @@ -name: DEFAULT - -defaults: - - phase@phases.DEFAULT: DEFAULT diff --git a/configs/task/rlbench/insert_onto_square_peg/phase/all.yaml b/configs/task/rlbench/insert_onto_square_peg/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/insert_onto_square_peg/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/insert_onto_square_peg/phase/grasp.yaml b/configs/task/rlbench/insert_onto_square_peg/phase/grasp.yaml deleted file mode 100644 index 481ae8c..0000000 --- a/configs/task/rlbench/insert_onto_square_peg/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: square_ring -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/insert_onto_square_peg/phase/place.yaml b/configs/task/rlbench/insert_onto_square_peg/phase/place.yaml deleted file mode 100644 index 17a76b5..0000000 --- a/configs/task/rlbench/insert_onto_square_peg/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: square_ring -anchor_class: square_base -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/insert_onto_square_peg/task.yaml b/configs/task/rlbench/insert_onto_square_peg/task.yaml deleted file mode 100644 index fd49d82..0000000 --- a/configs/task/rlbench/insert_onto_square_peg/task.yaml +++ /dev/null @@ -1,4 +0,0 @@ -defaults: -- phase@phases.grasp: grasp -- phase@phases.place: place -name: insert_onto_square_peg diff --git a/configs/task/rlbench/phone_on_base/phase/all.yaml b/configs/task/rlbench/phone_on_base/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/phone_on_base/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/phone_on_base/phase/grasp.yaml b/configs/task/rlbench/phone_on_base/phase/grasp.yaml deleted file mode 100644 index 2cc1927..0000000 --- a/configs/task/rlbench/phone_on_base/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: phone_visual -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/phone_on_base/phase/lift.yaml b/configs/task/rlbench/phone_on_base/phase/lift.yaml deleted file mode 100644 index a5fe055..0000000 --- a/configs/task/rlbench/phone_on_base/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: phone_visual -anchor_class: phone_visual -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/phone_on_base/phase/place.yaml b/configs/task/rlbench/phone_on_base/phase/place.yaml deleted file mode 100644 index 531b1cc..0000000 --- a/configs/task/rlbench/phone_on_base/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: phone_visual -anchor_class: phone_case_visual -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/phone_on_base/phase/pregrasp.yaml b/configs/task/rlbench/phone_on_base/phase/pregrasp.yaml deleted file mode 100644 index 8fdf43f..0000000 --- a/configs/task/rlbench/phone_on_base/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: phone_visual -name: pregrasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/phone_on_base/task.yaml b/configs/task/rlbench/phone_on_base/task.yaml deleted file mode 100644 index 7dc266b..0000000 --- a/configs/task/rlbench/phone_on_base/task.yaml +++ /dev/null @@ -1,6 +0,0 @@ -defaults: -- phase@phases.pregrasp: pregrasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -- phase@phases.place: place -name: phone_on_base diff --git a/configs/task/rlbench/pick_and_lift/phase/all.yaml b/configs/task/rlbench/pick_and_lift/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/pick_and_lift/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/final.yaml b/configs/task/rlbench/pick_and_lift/phase/final.yaml deleted file mode 100644 index 657caae..0000000 --- a/configs/task/rlbench/pick_and_lift/phase/final.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: pick_and_lift_target -anchor_class: success_visual -name: final -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/grasp.yaml b/configs/task/rlbench/pick_and_lift/phase/grasp.yaml deleted file mode 100644 index 8e919b3..0000000 --- a/configs/task/rlbench/pick_and_lift/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: pick_and_lift_target -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/lift.yaml b/configs/task/rlbench/pick_and_lift/phase/lift.yaml deleted file mode 100644 index c9872e4..0000000 --- a/configs/task/rlbench/pick_and_lift/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: pick_and_lift_target -anchor_class: pick_and_lift_target -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml b/configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml deleted file mode 100644 index 5dc8b29..0000000 --- a/configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: pick_and_lift_target -name: pregrasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/task.yaml b/configs/task/rlbench/pick_and_lift/task.yaml deleted file mode 100644 index 232e35d..0000000 --- a/configs/task/rlbench/pick_and_lift/task.yaml +++ /dev/null @@ -1,6 +0,0 @@ -defaults: -- phase@phases.pregrasp: pregrasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -- phase@phases.final: final -name: pick_and_lift diff --git a/configs/task/rlbench/pick_up_cup/phase/all.yaml b/configs/task/rlbench/pick_up_cup/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/pick_up_cup/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/phase/grasp.yaml b/configs/task/rlbench/pick_up_cup/phase/grasp.yaml deleted file mode 100644 index 8c39536..0000000 --- a/configs/task/rlbench/pick_up_cup/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: cup1_visual -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/phase/lift.yaml b/configs/task/rlbench/pick_up_cup/phase/lift.yaml deleted file mode 100644 index de54588..0000000 --- a/configs/task/rlbench/pick_up_cup/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: cup1_visual -anchor_class: cup1_visual -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml b/configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml deleted file mode 100644 index 2e884eb..0000000 --- a/configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: cup1_visual -name: pregrasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/task.yaml b/configs/task/rlbench/pick_up_cup/task.yaml deleted file mode 100644 index 5d021f8..0000000 --- a/configs/task/rlbench/pick_up_cup/task.yaml +++ /dev/null @@ -1,5 +0,0 @@ -defaults: -- phase@phases.pregrasp: pregrasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -name: pick_up_cup diff --git a/configs/task/rlbench/place_hanger_on_rack/phase/all.yaml b/configs/task/rlbench/place_hanger_on_rack/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/place_hanger_on_rack/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/place_hanger_on_rack/phase/grasp.yaml b/configs/task/rlbench/place_hanger_on_rack/phase/grasp.yaml deleted file mode 100644 index 96d7862..0000000 --- a/configs/task/rlbench/place_hanger_on_rack/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: clothes_hanger_visual -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/place_hanger_on_rack/phase/place.yaml b/configs/task/rlbench/place_hanger_on_rack/phase/place.yaml deleted file mode 100644 index 4a32129..0000000 --- a/configs/task/rlbench/place_hanger_on_rack/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: clothes_hanger_visual -anchor_class: clothes_rack -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/place_hanger_on_rack/task.yaml b/configs/task/rlbench/place_hanger_on_rack/task.yaml deleted file mode 100644 index 957df22..0000000 --- a/configs/task/rlbench/place_hanger_on_rack/task.yaml +++ /dev/null @@ -1,4 +0,0 @@ -defaults: -- phase@phases.grasp: grasp -- phase@phases.place: place -name: place_hanger_on_rack diff --git a/configs/task/rlbench/push_button/phase/all.yaml b/configs/task/rlbench/push_button/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/push_button/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/push_button/phase/postpush.yaml b/configs/task/rlbench/push_button/phase/postpush.yaml deleted file mode 100644 index 4d8a27a..0000000 --- a/configs/task/rlbench/push_button/phase/postpush.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: push_button_target -name: postpush -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/push_button/phase/prepush.yaml b/configs/task/rlbench/push_button/phase/prepush.yaml deleted file mode 100644 index 902f98a..0000000 --- a/configs/task/rlbench/push_button/phase/prepush.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: push_button_target -name: prepush -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/push_button/task.yaml b/configs/task/rlbench/push_button/task.yaml deleted file mode 100644 index 70660c3..0000000 --- a/configs/task/rlbench/push_button/task.yaml +++ /dev/null @@ -1,4 +0,0 @@ -defaults: -- phase@phases.prepush: prepush -- phase@phases.postpush: postpush -name: push_button diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml deleted file mode 100644 index 455425a..0000000 --- a/configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: knife_visual -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml deleted file mode 100644 index f188bdf..0000000 --- a/configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: knife_visual -anchor_class: knife_visual -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml deleted file mode 100644 index 2fdba57..0000000 --- a/configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: knife_visual -anchor_class: chopping_board_visual -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml deleted file mode 100644 index ad2095b..0000000 --- a/configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: knife_visual -name: pregrasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/task.yaml b/configs/task/rlbench/put_knife_on_chopping_board/task.yaml deleted file mode 100644 index 8bc0f24..0000000 --- a/configs/task/rlbench/put_knife_on_chopping_board/task.yaml +++ /dev/null @@ -1,6 +0,0 @@ -defaults: -- phase@phases.pregrasp: pregrasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -- phase@phases.place: place -name: put_knife_on_chopping_board diff --git a/configs/task/rlbench/put_money_in_safe/phase/all.yaml b/configs/task/rlbench/put_money_in_safe/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/put_money_in_safe/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/grasp.yaml b/configs/task/rlbench/put_money_in_safe/phase/grasp.yaml deleted file mode 100644 index c415535..0000000 --- a/configs/task/rlbench/put_money_in_safe/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: dollar_stack -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/lift.yaml b/configs/task/rlbench/put_money_in_safe/phase/lift.yaml deleted file mode 100644 index 81efd3b..0000000 --- a/configs/task/rlbench/put_money_in_safe/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: dollar_stack -anchor_class: dollar_stack -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/place.yaml b/configs/task/rlbench/put_money_in_safe/phase/place.yaml deleted file mode 100644 index 63800f7..0000000 --- a/configs/task/rlbench/put_money_in_safe/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: dollar_stack -anchor_class: safe_body -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml b/configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml deleted file mode 100644 index a8ae4c8..0000000 --- a/configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: dollar_stack -name: pregrasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/preplace.yaml b/configs/task/rlbench/put_money_in_safe/phase/preplace.yaml deleted file mode 100644 index b535df5..0000000 --- a/configs/task/rlbench/put_money_in_safe/phase/preplace.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: dollar_stack -anchor_class: safe_body -name: preplace -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/task.yaml b/configs/task/rlbench/put_money_in_safe/task.yaml deleted file mode 100644 index 8b22a0e..0000000 --- a/configs/task/rlbench/put_money_in_safe/task.yaml +++ /dev/null @@ -1,7 +0,0 @@ -defaults: -- phase@phases.pregrasp: pregrasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -- phase@phases.preplace: preplace -- phase@phases.place: place -name: put_money_in_safe diff --git a/configs/task/rlbench/put_toilet_roll_on_stand/phase/all.yaml b/configs/task/rlbench/put_toilet_roll_on_stand/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/put_toilet_roll_on_stand/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_toilet_roll_on_stand/phase/grasp.yaml b/configs/task/rlbench/put_toilet_roll_on_stand/phase/grasp.yaml deleted file mode 100644 index 239098f..0000000 --- a/configs/task/rlbench/put_toilet_roll_on_stand/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: toilet_roll_visual -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_toilet_roll_on_stand/phase/place.yaml b/configs/task/rlbench/put_toilet_roll_on_stand/phase/place.yaml deleted file mode 100644 index 3c81ef0..0000000 --- a/configs/task/rlbench/put_toilet_roll_on_stand/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: toilet_roll_visual -anchor_class: holder_visual -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/put_toilet_roll_on_stand/task.yaml b/configs/task/rlbench/put_toilet_roll_on_stand/task.yaml deleted file mode 100644 index cf8c5da..0000000 --- a/configs/task/rlbench/put_toilet_roll_on_stand/task.yaml +++ /dev/null @@ -1,4 +0,0 @@ -defaults: -- phase@phases.grasp: grasp -- phase@phases.place: place -name: put_toilet_roll_on_stand diff --git a/configs/task/rlbench/reach_target/phase/all.yaml b/configs/task/rlbench/reach_target/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/reach_target/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/reach_target/phase/reach.yaml b/configs/task/rlbench/reach_target/phase/reach.yaml deleted file mode 100644 index 022c48f..0000000 --- a/configs/task/rlbench/reach_target/phase/reach.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: target -name: reach -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/reach_target/task.yaml b/configs/task/rlbench/reach_target/task.yaml deleted file mode 100644 index 98411dd..0000000 --- a/configs/task/rlbench/reach_target/task.yaml +++ /dev/null @@ -1,3 +0,0 @@ -defaults: -- phase@phases.reach: reach -name: reach_target diff --git a/configs/task/rlbench/slide_block_to_target/phase/all.yaml b/configs/task/rlbench/slide_block_to_target/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/slide_block_to_target/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/slide_block_to_target/phase/postslide.yaml b/configs/task/rlbench/slide_block_to_target/phase/postslide.yaml deleted file mode 100644 index 72cf4c7..0000000 --- a/configs/task/rlbench/slide_block_to_target/phase/postslide.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: target -name: postslide -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/slide_block_to_target/phase/preslide.yaml b/configs/task/rlbench/slide_block_to_target/phase/preslide.yaml deleted file mode 100644 index a190198..0000000 --- a/configs/task/rlbench/slide_block_to_target/phase/preslide.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: block -name: preslide -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/slide_block_to_target/task.yaml b/configs/task/rlbench/slide_block_to_target/task.yaml deleted file mode 100644 index 51e261d..0000000 --- a/configs/task/rlbench/slide_block_to_target/task.yaml +++ /dev/null @@ -1,4 +0,0 @@ -defaults: -- phase@phases.preslide: preslide -- phase@phases.postslide: postslide -name: slide_block_to_target diff --git a/configs/task/rlbench/solve_puzzle/phase/all.yaml b/configs/task/rlbench/solve_puzzle/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/solve_puzzle/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/solve_puzzle/phase/grasp.yaml b/configs/task/rlbench/solve_puzzle/phase/grasp.yaml deleted file mode 100644 index e80f862..0000000 --- a/configs/task/rlbench/solve_puzzle/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: solve_puzzle_piece_visual2 -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/solve_puzzle/phase/place.yaml b/configs/task/rlbench/solve_puzzle/phase/place.yaml deleted file mode 100644 index 4fd8c2b..0000000 --- a/configs/task/rlbench/solve_puzzle/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: solve_puzzle_piece_visual2 -anchor_class: solve_puzzle_piece1 -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/solve_puzzle/task.yaml b/configs/task/rlbench/solve_puzzle/task.yaml deleted file mode 100644 index 3fb1dea..0000000 --- a/configs/task/rlbench/solve_puzzle/task.yaml +++ /dev/null @@ -1,4 +0,0 @@ -defaults: -- phase@phases.grasp: grasp -- phase@phases.place: place -name: solve_puzzle diff --git a/configs/task/rlbench/stack_wine/phase/all.yaml b/configs/task/rlbench/stack_wine/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/stack_wine/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/stack_wine/phase/grasp.yaml b/configs/task/rlbench/stack_wine/phase/grasp.yaml deleted file mode 100644 index 8e12060..0000000 --- a/configs/task/rlbench/stack_wine/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: wine_bottle -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/stack_wine/phase/lift.yaml b/configs/task/rlbench/stack_wine/phase/lift.yaml deleted file mode 100644 index 42f2e5c..0000000 --- a/configs/task/rlbench/stack_wine/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: wine_bottle -anchor_class: wine_bottle -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/stack_wine/phase/place.yaml b/configs/task/rlbench/stack_wine/phase/place.yaml deleted file mode 100644 index 230cfd9..0000000 --- a/configs/task/rlbench/stack_wine/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: wine_bottle -anchor_class: rack_top_visual -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/stack_wine/phase/pregrasp.yaml b/configs/task/rlbench/stack_wine/phase/pregrasp.yaml deleted file mode 100644 index 5959dd6..0000000 --- a/configs/task/rlbench/stack_wine/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: wine_bottle -name: pregrasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/stack_wine/phase/preplace.yaml b/configs/task/rlbench/stack_wine/phase/preplace.yaml deleted file mode 100644 index f77e1e3..0000000 --- a/configs/task/rlbench/stack_wine/phase/preplace.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: wine_bottle -anchor_class: rack_top_visual -name: preplace -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/stack_wine/task.yaml b/configs/task/rlbench/stack_wine/task.yaml deleted file mode 100644 index 197b975..0000000 --- a/configs/task/rlbench/stack_wine/task.yaml +++ /dev/null @@ -1,7 +0,0 @@ -defaults: -- phase@phases.pregrasp: pregrasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -- phase@phases.preplace: preplace -- phase@phases.place: place -name: stack_wine diff --git a/configs/task/rlbench/take_money_out_safe/phase/all.yaml b/configs/task/rlbench/take_money_out_safe/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/take_money_out_safe/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/grasp.yaml b/configs/task/rlbench/take_money_out_safe/phase/grasp.yaml deleted file mode 100644 index 9e87da5..0000000 --- a/configs/task/rlbench/take_money_out_safe/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: dollar_stack0 -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/lift.yaml b/configs/task/rlbench/take_money_out_safe/phase/lift.yaml deleted file mode 100644 index 9c7c022..0000000 --- a/configs/task/rlbench/take_money_out_safe/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: dollar_stack0 -anchor_class: dollar_stack0 -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/place.yaml b/configs/task/rlbench/take_money_out_safe/phase/place.yaml deleted file mode 100644 index c8abab0..0000000 --- a/configs/task/rlbench/take_money_out_safe/phase/place.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: dollar_stack0 -anchor_class: safe_body -name: place -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml b/configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml deleted file mode 100644 index a4ee3e2..0000000 --- a/configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: dollar_stack0 -name: pregrasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/task.yaml b/configs/task/rlbench/take_money_out_safe/task.yaml deleted file mode 100644 index 04264d9..0000000 --- a/configs/task/rlbench/take_money_out_safe/task.yaml +++ /dev/null @@ -1,6 +0,0 @@ -defaults: -- phase@phases.pregrasp: pregrasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -- phase@phases.place: place -name: take_money_out_safe diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml deleted file mode 100644 index 00b66c7..0000000 --- a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: null -anchor_class: null -name: all -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml deleted file mode 100644 index 9817eb4..0000000 --- a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: umbrella_visual -name: grasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml deleted file mode 100644 index fe02892..0000000 --- a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: umbrella_visual -anchor_class: umbrella_visual -name: lift -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml deleted file mode 100644 index 9618489..0000000 --- a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml +++ /dev/null @@ -1,7 +0,0 @@ -# @package task - -action_class: gripper -anchor_class: umbrella_visual -name: pregasp -softmax_temperature: 0.1 -weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml deleted file mode 100644 index 4ebc262..0000000 --- a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml +++ /dev/null @@ -1,5 +0,0 @@ -defaults: -- phase@phases.pregasp: pregasp -- phase@phases.grasp: grasp -- phase@phases.lift: lift -name: take_umbrella_out_of_umbrella_stand diff --git a/convert_demos_to_mp4.sh b/convert_demos_to_mp4.sh deleted file mode 100755 index 84671e0..0000000 --- a/convert_demos_to_mp4.sh +++ /dev/null @@ -1,37 +0,0 @@ -#!/bin/bash - -# Check if correct number of arguments provided -if [ "$#" -ne 2 ]; then - echo "Usage: $0 " - exit 1 -fi - -input_dir=$1 -output_dir=$2 - -# Use rsync to copy the input directory to the output directory -rsync -av --progress "$input_dir/" "$output_dir" - -# Function to process folders -process_folder() { - for folder in "$1"/*; do - if [ -d "$folder" ]; then - # Check if the folder contains PNG files - png_files=$(find "$folder" -maxdepth 1 -name '*.png') - if [ -n "$png_files" ]; then - # Folder name for the output file - folder_name=$(basename "$folder") - # Create MP4 file at the same directory level - ffmpeg -framerate 24 -i "$folder/%d.png" -c:v libx264 -qp 0 -preset veryslow "$1/$folder_name.mp4" - # Remove the folder after MP4 creation - rm -rf "$folder" - else - # Recursively process subfolders - process_folder "$folder" - fi - fi - done -} - -# Process each subfolder in the output directory -process_folder "$output_dir" diff --git a/convert_episodes.sh b/convert_episodes.sh deleted file mode 100644 index 6ee0bcf..0000000 --- a/convert_episodes.sh +++ /dev/null @@ -1,70 +0,0 @@ -#!/bin/bash - -# Check if correct number of arguments provided -if [ "$#" -ne 3 ]; then - echo "Usage: $0 " - exit 1 -fi - -operation=$1 -input_dir=$2 -output_dir=$3 -frame_rate=24 # Adjust this if a different frame rate is required - -# Ensure ffmpeg and rsync are installed -if ! command -v ffmpeg &> /dev/null || ! command -v rsync &> /dev/null; then - echo "Error: ffmpeg and rsync must be installed to run this script." - exit 1 -fi - -# Function to recursively convert PNG sequences to MP4 -convert_to_mp4() { - cp -r "$input_dir" "$output_dir" - process_folder() { - for folder in "$1"/*; do - if [ -d "$folder" ]; then - png_files=$(find "$folder" -maxdepth 1 -name '*.png') - if [ -n "$png_files" ]; then - folder_name=$(basename "$folder") - ffmpeg -framerate $frame_rate -i "$folder/%d.png" -c:v libx264 -qp 0 -preset veryslow "$1/$folder_name.mp4" - rm -rf "$folder" - else - process_folder "$folder" - fi - fi - done - } - process_folder "$output_dir" -} - -# Function to recursively convert MP4 to PNG sequences -convert_to_png() { - cp -r "$input_dir" "$output_dir" - process_mp4_files() { - for file in "$1"/*; do - if [ -d "$file" ]; then - process_mp4_files "$file" - elif [ -f "$file" ] && [[ "$file" == *.mp4 ]]; then - base_name=$(basename "$file" .mp4) - mkdir "$1/$base_name" - ffmpeg -i "$file" -r $frame_rate -vsync 0 -start_number 0 "$1/$base_name/%d.png" - rm "$file" - fi - done - } - process_mp4_files "$output_dir" -} - -# Check operation type and call the respective function -case $operation in - mp4) - convert_to_mp4 - ;; - png) - convert_to_png - ;; - *) - echo "Invalid operation: $operation. Use 'mp4' or 'png'." - exit 1 - ;; -esac diff --git a/convert_episodes_ffvi.sh b/convert_episodes_ffvi.sh deleted file mode 100644 index a895530..0000000 --- a/convert_episodes_ffvi.sh +++ /dev/null @@ -1,70 +0,0 @@ -#!/bin/bash - -# Check if correct number of arguments provided -if [ "$#" -ne 3 ]; then - echo "Usage: $0 " - exit 1 -fi - -operation=$1 -input_dir=$2 -output_dir=$3 -frame_rate=24 # Adjust this if a different frame rate is required - -# Ensure ffmpeg and rsync are installed -if ! command -v ffmpeg &> /dev/null || ! command -v rsync &> /dev/null; then - echo "Error: ffmpeg and rsync must be installed to run this script." - exit 1 -fi - -# Function to recursively convert PNG sequences to FFV1 -convert_to_ffv1() { - cp -r "$input_dir" "$output_dir" - process_folder() { - for folder in "$1"/*; do - if [ -d "$folder" ]; then - png_files=$(find "$folder" -maxdepth 1 -name '*.png') - if [ -n "$png_files" ]; then - folder_name=$(basename "$folder") - ffmpeg -framerate $frame_rate -i "$folder/%d.png" -c:v ffv1 -level 3 "$1/$folder_name.mkv" - rm -rf "$folder" - else - process_folder "$folder" - fi - fi - done - } - process_folder "$output_dir" -} - -# Function to recursively convert FFV1 to PNG sequences -convert_to_png() { - cp -r "$input_dir" "$output_dir" - process_ffv1_files() { - for file in "$1"/*; do - if [ -d "$file" ]; then - process_ffv1_files "$file" - elif [ -f "$file" ] && [[ "$file" == *.mkv ]]; then - base_name=$(basename "$file" .mkv) - mkdir "$1/$base_name" - ffmpeg -i "$file" -r $frame_rate -vsync 0 -start_number 0 "$1/$base_name/%d.png" - rm "$file" - fi - done - } - process_ffv1_files "$output_dir" -} - -# Check operation type and call the respective function -case $operation in - ffv1) - convert_to_ffv1 - ;; - png) - convert_to_png - ;; - *) - echo "Invalid operation: $operation. Use 'ffv1' or 'png'." - exit 1 - ;; -esac diff --git a/copy_rlbench_and_unzip.sh b/copy_rlbench_and_unzip.sh deleted file mode 100644 index 3c849c2..0000000 --- a/copy_rlbench_and_unzip.sh +++ /dev/null @@ -1,12 +0,0 @@ -# Copy the folder named rlbench.zip from /project_data/held/baeisner/rlbench.zip to /scratch/baeisner/data/rlbench.zip -# Unzip the file rlbench.zip in /scratch/baeisner/data/rlbench -# Delete the file rlbench.zip in /scratch/baeisner/data/rlbench.zip - -# Rsync with progress -rsync -av --progress /project_data/held/baeisner/rlbench.zip /scratch/baeisner/data/rlbench.zip - -# Unzip -unzip /scratch/baeisner/data/rlbench.zip -d /scratch/baeisner/data - -# Delete -rm /scratch/baeisner/data/rlbench.zip diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh deleted file mode 100755 index 3dfcb5f..0000000 --- a/docker/entrypoint.sh +++ /dev/null @@ -1,26 +0,0 @@ -#!/bin/bash - -# Set the display env variable -export DISPLAY=:99 -export VGL_DISPLAY="egl" - -# Start Xvfb -Xvfb $DISPLAY -screen 0 1024x768x24 -nolisten tcp -nolisten unix +extension GLX > /dev/null 2>&1 & - -# Wait a little for Xvfb to start -sleep 2 - -echo "Xvfb started on display $DISPLAY" - -# If VGL_DEVICE is set, then use it. Else use egl0. -if [ -z "$VGL_DEVICE" ]; then - VGL_DEVICE="egl0" -fi - -echo "Using VirtualGL device: $VGL_DEVICE" - -# Run your OpenGL application with VirtualGL (add +v command if needed.) -vglrun \ - -d $VGL_DEVICE \ - -ld /opt/baeisner/.pyenv/versions/3.9.12/lib/python3.9/site-packages/torch/lib \ - "$@" diff --git a/launch.sh b/launch.sh deleted file mode 100755 index 66d54d2..0000000 --- a/launch.sh +++ /dev/null @@ -1,121 +0,0 @@ -#!/bin/bash - -# This is a script that should take in three arguments: -# 1. the platfrom to run on (e.g. "autobot" or "local") -# 2. the index of which GPU to use -# 3. the command and arguments to run - -# Example usage: -# ./launch_autobot.sh autobot 0 python scripts/train_residual_flow.py - -# Get the first argument: -PLATFORM=$1 - -# Get the second argument: -GPU_INDEX=$2 -shift -shift - -# Get the third argument: -COMMAND=$@ - - -echo Platform: $PLATFORM -echo GPU Index: $GPU_INDEX -echo Command: $COMMAND - - -# If the platform is "autobot", then we need to use singularity to run the command. -if [ $PLATFORM == "autobot" ]; then - echo "Running on autobot" - - # For the following directories, check to see if they exist. If they don't, create them. Use an array. - # Directories to check: - DIRECTORIES=("/scratch/$(whoami)/data" "/scratch/$(whoami)/logs" "/scratch/$(whoami)/artifacts" "/scratch/$(whoami)/.config" "/scratch/$(whoami)/tmp" "/scratch/$(whoami)/home") - - for DIRECTORY in "${DIRECTORIES[@]}"; do - if [ ! -d $DIRECTORY ]; then - mkdir -p $DIRECTORY - fi - done - - # Run on signularity. - APPTAINERENV_CUDA_VISIBLE_DEVICES=$GPU_INDEX \ - APPTAINERENV_WANDB_DOCKER_IMAGE=taxpose \ - APPTAINERENV_MPLCONFIGDIR=/opt/.config \ - apptainer run \ - --nv \ - --no-mount hostfs \ - --pwd /opt/$(whoami)/code \ - --workdir /opt/tmp \ - -B /home/$(whoami)/code/rpad/taxpose:/opt/$(whoami)/code \ - -B /scratch/$(whoami)/data:/data \ - -B /scratch/$(whoami)/logs:/opt/logs \ - -B /scratch/$(whoami)/artifacts:/opt/artifacts \ - -B /scratch/$(whoami)/.config:/opt/.config \ - -B /scratch/$(whoami)/tmp:/tmp \ - -B /scratch/$(whoami)/home:/home/$(whoami) \ - docker://beisner/taxpose \ - $COMMAND \ - log_dir=/opt/logs \ - data_root=/data \ - wandb.artifact_dir=/opt/artifacts \ - -# If the platform is "local-docker", then we need to use docker to run the command. -elif [ $PLATFORM == "local-docker" ]; then - echo "Running locally with docker" - - docker run \ - --gpus "device=$GPU_INDEX" \ - -it \ - -e WANDB_API_KEY="${WANDB_API_KEY}" \ - -e WANDB_DOCKER_IMAGE=taxpose \ - -v /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json \ - -v /home/beisner/datasets/:/data \ - -v /home/beisner/code/rpad/taxpose/artifacts:/opt/artifacts \ - -v /home/beisner/code/rpad/taxpose/logs:/opt/logs \ - -v /home/beisner/code/rpad/taxpose:/opt/baeisner/code \ - beisner/taxpose \ - $COMMAND \ - log_dir=/opt/logs \ - data_root=/data \ - wandb.artifact_dir=/opt/artifacts - -elif [ $PLATFORM == "local-apptainer" ]; then - echo "Running locally with apptainer" - - APPTAINERENV_CUDA_VISIBLE_DEVICES=$GPU_INDEX \ - APPTAINERENV_WANDB_DOCKER_IMAGE=taxpose \ - APPTAINERENV_MPLCONFIGDIR=/opt/.config \ - APPTAINERENV_VGL_DEVICE=egl$GPU_INDEX \ - APPTAINERENV_PYENV_VERSION= \ - apptainer run \ - --nv \ - --no-mount hostfs \ - --pwd /opt/$(whoami)/code \ - --contain \ - -B /home/$(whoami)/code/rpad/taxpose:/opt/$(whoami)/code \ - -B /home/$(whoami)/datasets:/data \ - -B /home/$(whoami)/code/rpad/taxpose/logs:/opt/logs \ - -B /home/$(whoami)/code/rpad/taxpose/artifacts:/opt/artifacts \ - -B /home/$(whoami)/.config:/opt/.config \ - -B /home/$(whoami)/.tmp:/tmp \ - -B /home/$(whoami)/tmp_home:/home/$(whoami) \ - -B /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json \ - docker://beisner/taxpose \ - $COMMAND \ - log_dir=/opt/logs \ - data_root=/data \ - wandb.artifact_dir=/opt/artifacts - -# If the platform is "local", then we can just run the command. -elif [ $PLATFORM == "local" ]; then - echo "Running locally" - - CUDA_VISIBLE_DEVICES=$GPU_INDEX \ - WANDB_DOCKER_IMAGE=taxpose \ - $COMMAND - -else - echo "Platform not recognized" -fi diff --git a/pyproject.toml b/pyproject.toml index 5ae9b16..b377bcb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -14,14 +14,12 @@ authors = [ ] dependencies = [ # "chamferdist", - "dill", "dgl", "dglgo", "h5py", "hydra-core", "imageio", "jupyterlab", - "open3d", "opencv-python", "pybullet", "pyg_lib", @@ -56,9 +54,6 @@ develop = [ "pytest-xdist", "types-tqdm", ] -rlbench = [ - "rpad-rlbench-utils @ git+https://github.com/r-pad/rlbench_utils.git", -] build_docs = ["mkdocs-material", "mkdocstrings[python]"] @@ -106,8 +101,7 @@ module = [ ignore_missing_imports = true [tool.pytest.ini_options] -addopts = "--ignore=third_party/ -m 'not long' -n auto" -testpaths = "tests" +addopts = "--ignore=third_party/ -m 'not long'" [tool.pylint] disable = [ diff --git a/scripts/README.md b/scripts/README.md index 34bcce3..deed6b0 100644 --- a/scripts/README.md +++ b/scripts/README.md @@ -1,353 +1,3 @@ -# Scripts for your project +# Scripts for your porject If you write some scripts which are meant to be run stand-alone, and not imported as part of the library, put them in this directory. - - -## Full pretraining. - -### Vector neurons. -./launch_autobot.sh 0 python scripts/pretrain_embedding.py --config-name=commands/pretrain_vn_dgcnn_bottle wandb.group=pretrain_vn -./launch_autobot.sh 1 python scripts/pretrain_embedding.py --config-name=commands/pretrain_vn_dgcnn_bowl wandb.group=pretrain_vn -./launch_autobot.sh 2 python scripts/pretrain_embedding.py --config-name=commands/pretrain_vn_dgcnn_gripper wandb.group=pretrain_vn -./launch_autobot.sh 3 python scripts/pretrain_embedding.py --config-name=commands/pretrain_vn_dgcnn_mug wandb.group=pretrain_vn -./launch_autobot.sh 4 python scripts/pretrain_embedding.py --config-name=commands/pretrain_vn_dgcnn_rack wandb.group=pretrain_vn -./launch_autobot.sh 5 python scripts/pretrain_embedding.py --config-name=commands/pretrain_vn_dgcnn_table wandb.group=pretrain_vn - -### Normal DGCNN. -./launch_autobot.sh 0 python scripts/pretrain_embedding.py --config-name=commands/pretrain_dgcnn_gripper wandb.group=pretrain -./launch_autobot.sh 1 python scripts/pretrain_embedding.py --config-name=commands/pretrain_dgcnn_mug wandb.group=pretrain -./launch_autobot.sh 2 python scripts/pretrain_embedding.py --config-name=commands/pretrain_dgcnn_rack wandb.group=pretrain -./launch_autobot.sh 3 python scripts/pretrain_embedding.py --config-name=commands/pretrain_dgcnn_table wandb.group=pretrain -./launch_autobot.sh 4 python scripts/pretrain_embedding.py --config-name=commands/pretrain_dgcnn_bowl wandb.group=pretrain -./launch_autobot.sh 5 python scripts/pretrain_embedding.py --config-name=commands/pretrain_dgcnn_bottle wandb.group=pretrain - - -## Full training. - -### Taxpose. -./launch_autobot.sh 1 python scripts/train_residual_flow.py --config-name commands/train_taxpose_mug_grasp +mode=train wandb.group=taxpose -./launch_autobot.sh 2 python scripts/train_residual_flow.py --config-name commands/train_taxpose_mug_place +mode=train wandb.group=taxpose -./launch_autobot.sh 4 python scripts/train_residual_flow.py --config-name commands/train_taxpose_bottle_grasp +mode=train wandb.group=taxpose -./launch_autobot.sh 5 python scripts/train_residual_flow.py --config-name commands/train_taxpose_bottle_place +mode=train wandb.group=taxpose -./launch_autobot.sh 6 python scripts/train_residual_flow.py --config-name commands/train_taxpose_bowl_grasp +mode=train wandb.group=taxpose -./launch_autobot.sh 7 python scripts/train_residual_flow.py --config-name commands/train_taxpose_bowl_place +mode=train wandb.group=taxpose - -### Multilateration. -./launch_autobot.sh 1 python scripts/train_residual_flow.py --config-name commands/train_mlat_mug_grasp +mode=train wandb.group=mlat_s256_vnn -./launch_autobot.sh 2 python scripts/train_residual_flow.py --config-name commands/train_mlat_mug_place +mode=train wandb.group=mlat_s256_vnn -./launch_autobot.sh 4 python scripts/train_residual_flow.py --config-name commands/train_mlat_bottle_grasp +mode=train wandb.group=mlat_s256_vnn -./launch_autobot.sh 5 python scripts/train_residual_flow.py --config-name commands/train_mlat_bottle_place +mode=train wandb.group=mlat_s256_vnn -./launch_autobot.sh 6 python scripts/train_residual_flow.py --config-name commands/train_mlat_bowl_grasp +mode=train wandb.group=mlat_s256_vnn -./launch_autobot.sh 7 python scripts/train_residual_flow.py --config-name commands/train_mlat_bowl_place +mode=train wandb.group=mlat_s256_vnn - - -## Ablations - -### SE(3) - -#### TAX-pose - -./launch_autobot.sh 0 python scripts/train_residual_flow.py --config-name commands/ablations/se3_augmentation/train_taxpose_mug_grasp.yaml +mode=train wandb.group=ablate_se3_taxpose - -./launch_autobot.sh 1 python scripts/train_residual_flow.py --config-name commands/ablations/se3_augmentation/train_taxpose_mug_place.yaml +mode=train wandb.group=ablate_se3_taxpose - - -#### - -./launch_autobot.sh 2 python scripts/train_residual_flow.py --config-name commands/ablations/se3_augmentation/train_mlat_mug_grasp.yaml +mode=train wandb.group=ablate_se3_mlat_s256_vnn - -./launch_autobot.sh 3 python scripts/train_residual_flow.py --config-name commands/ablations/se3_augmentation/train_mlat_mug_place.yaml +mode=train wandb.group=ablate_se3_mlat_s256_vnn - - -## RLBench - -### Taxpose - -./launch_autobot.sh 0 python scripts/train_residual_flow.py --config-name commands/rlbench/train_taxpose_rlbench_stack_wine_place.yaml wandb.group=rlbench_taxpose -./launch_autobot.sh 1 python scripts/train_residual_flow.py --config-name commands/rlbench/train_taxpose_rlbench_insert_onto_square_peg_place.yaml wandb.group=rlbench_taxpose -./launch_autobot.sh 2 python scripts/train_residual_flow.py --config-name commands/rlbench/train_taxpose_rlbench_phone_on_base_place.yaml wandb.group=rlbench_taxpose -./launch_autobot.sh 3 python scripts/train_residual_flow.py --config-name commands/rlbench/train_taxpose_rlbench_put_toilet_roll_on_stand_place.yaml wandb.group=rlbench_taxpose -./launch_autobot.sh 4 python scripts/train_residual_flow.py --config-name commands/rlbench/train_taxpose_rlbench_solve_puzzle_place.yaml wandb.group=rlbench_taxpose -./launch_autobot.sh 5 python scripts/train_residual_flow.py --config-name commands/rlbench/train_taxpose_rlbench_place_hanger_on_rack_place.yaml wandb.group=rlbench_taxpose - -./launch.sh ${RPAD_PLATFORM} 0 python scripts/train_residual_flow.py --config-name commands/rlbench/put_toilet_roll_on_stand/train_taxpose_grasp.yaml wandb.group=rlbench_taxpose -./launch.sh ${RPAD_PLATFORM} 1 python scripts/train_residual_flow.py --config-name commands/rlbench/phone_on_base/train_taxpose_grasp.yaml wandb.group=rlbench_taxpose -./launch.sh ${RPAD_PLATFORM} 2 python scripts/train_residual_flow.py --config-name commands/rlbench/place_hanger_on_rack/train_taxpose_grasp.yaml wandb.group=rlbench_taxpose -./launch.sh ${RPAD_PLATFORM} 3 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_grasp.yaml wandb.group=rlbench_taxpose -./launch.sh ${RPAD_PLATFORM} 0 python scripts/train_residual_flow.py --config-name commands/rlbench/insert_onto_square_peg/train_taxpose_grasp.yaml wandb.group=rlbench_taxpose - -### Mlat - -./launch_autobot.sh 0 python scripts/train_residual_flow.py --config-name commands/rlbench/train_mlat_rlbench_stack_wine_place.yaml wandb.group=rlbench_mlat -./launch_autobot.sh 1 python scripts/train_residual_flow.py --config-name commands/rlbench/train_mlat_rlbench_insert_onto_square_peg_place.yaml wandb.group=rlbench_mlat -./launch_autobot.sh 2 python scripts/train_residual_flow.py --config-name commands/rlbench/train_mlat_rlbench_phone_on_base_place.yaml wandb.group=rlbench_mlat -./launch_autobot.sh 3 python scripts/train_residual_flow.py --config-name commands/rlbench/train_mlat_rlbench_put_toilet_roll_on_stand_place.yaml wandb.group=rlbench_mlat -./launch_autobot.sh 4 python scripts/train_residual_flow.py --config-name commands/rlbench/train_mlat_rlbench_solve_puzzle_place.yaml wandb.group=rlbench_mlat resources.num_workers=0 -./launch_autobot.sh 5 python scripts/train_residual_flow.py --config-name commands/rlbench/train_mlat_rlbench_place_hanger_on_rack_place.yaml wandb.group=rlbench_mlat resources.num_workers=0 - - -### Ablations - -#### Taxpose -python scripts/train_residual_flow.py --config-name commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_1 wandb.group=rlbench_ablations_taxpose -python scripts/train_residual_flow.py --config-name commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_5 wandb.group=rlbench_ablations_taxpose -python scripts/train_residual_flow.py --config-name commands/rlbench/ablations/sample_efficiency/train_taxpose_stack_wine_place_10 wandb.group=rlbench_ablations_taxpose - -#### Mlat -./launch_autobot.sh 0 python scripts/train_residual_flow.py --config-name commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_1 wandb.group=rlbench_ablations_mlat resources.num_workers=0 -./launch_autobot.sh 1 python scripts/train_residual_flow.py --config-name commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_5 wandb.group=rlbench_ablations_mlat -./launch_autobot.sh 2 python scripts/train_residual_flow.py --config-name commands/rlbench/ablations/sample_efficiency/train_mlat_stack_wine_place_10 wandb.group=rlbench_ablations_mlat - -##### Evals - -python scripts/eval_metrics.py --config-name=commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_1 wandb.group=rlbench_ablations_taxpose -python scripts/eval_metrics.py --config-name=commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_5 wandb.group=rlbench_ablations_taxpose -python scripts/eval_metrics.py --config-name=commands/rlbench/ablations/sample_efficiency/evals/taxpose_stack_wine_place_10 wandb.group=rlbench_ablations_taxpose - -python scripts/eval_metrics.py --config-name=commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_1 wandb.group=rlbench_ablations_mlat -python scripts/eval_metrics.py --config-name=commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_5 wandb.group=rlbench_ablations_mlat -python scripts/eval_metrics.py --config-name=commands/rlbench/ablations/sample_efficiency/evals/mlat_stack_wine_place_10 wandb.group=rlbench_ablations_mlat - -## RLBench Evals - -### Taxpose -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/taxpose_stack_wine_place wandb.group=rlbench_taxpose -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/taxpose_put_toilet_roll_on_stand_place wandb.group=rlbench_taxpose -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/taxpose_place_hanger_on_rack_place wandb.group=rlbench_taxpose -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/taxpose_phone_on_base_place wandb.group=rlbench_taxpose -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/taxpose_insert_onto_square_peg_place wandb.group=rlbench_taxpose - -### Mlat -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/mlat_stack_wine_place wandb.group=rlbench_mlat -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/mlat_put_toilet_roll_on_stand_place wandb.group=rlbench_mlat -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/mlat_place_hanger_on_rack_place wandb.group=rlbench_mlat -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/mlat_phone_on_base_place wandb.group=rlbench_mlat -python scripts/eval_metrics.py --config-name=commands/rlbench/evals/mlat_insert_onto_square_peg_place wandb.group=rlbench_mlat - - -## NDF evals. -CUDA_VISIBLE_DEVICES=0 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/taxpose_mug_upright seed=10 wandb.group=taxpose -CUDA_VISIBLE_DEVICES=0 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/taxpose_mug_arbitrary seed=10 wandb.group=taxpose -CUDA_VISIBLE_DEVICES=0 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/taxpose_bottle_upright seed=10 wandb.group=taxpose -CUDA_VISIBLE_DEVICES=1 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/taxpose_bottle_arbitrary seed=10 wandb.group=taxpose -CUDA_VISIBLE_DEVICES=1 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/taxpose_bowl_upright seed=10 wandb.group=taxpose -CUDA_VISIBLE_DEVICES=1 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/taxpose_bowl_arbitrary seed=10 wandb.group=taxpose - -CUDA_VISIBLE_DEVICES=0 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/mlat_mug_upright seed=10 wandb.group=mlat_s256_vnn -CUDA_VISIBLE_DEVICES=0 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/mlat_mug_arbitrary seed=10 wandb.group=mlat_s256_vnn -CUDA_VISIBLE_DEVICES=0 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/mlat_bottle_upright seed=10 wandb.group=mlat_s256_vnn -CUDA_VISIBLE_DEVICES=1 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/mlat_bottle_arbitrary seed=10 wandb.group=mlat_s256_vnn -CUDA_VISIBLE_DEVICES=1 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/mlat_bowl_upright seed=10 wandb.group=mlat_s256_vnn -CUDA_VISIBLE_DEVICES=1 DISPLAY=:0.0 python scripts/evaluate_ndf_mug_standalone.py --config-name commands/ndf_evals/mlat_bowl_arbitrary seed=10 wandb.group=mlat_s256_vnn - -# New RLBench. - -## Stack Wine. - -./launch.sh local 0 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_pregrasp.yaml wandb.group=rlbench_taxpose -./launch.sh local 0 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_grasp.yaml wandb.group=rlbench_taxpose -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_lift.yaml wandb.group=rlbench_taxpose -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_preplace.yaml wandb.group=rlbench_taxpose -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_place.yaml wandb.group=rlbench_taxpose - -## Put knife on chopping board - -./launch.sh local 0 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_pregrasp.yaml wandb.group=rlbench_put_knife_on_chopping_board -./launch.sh local 0 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_grasp.yaml wandb.group=rlbench_put_knife_on_chopping_board -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_lift.yaml wandb.group=rlbench_put_knife_on_chopping_board -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_place.yaml wandb.group=rlbench_put_knife_on_chopping_board -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_place.yaml wandb.group=all - -### Eval. - - -#### TAXPOSE -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_pregrasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_grasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_lift data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose dm.train_dset.anchor_rotation_variance=1e-5 dm.train_dset.action_rot_sample_method=axis_angle_uniform_z dm.train_dset.anchor_rot_sample_method=axis_angle_uniform_z -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_place data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose dm.train_dset.anchor_rotation_variance=1e-5 dm.train_dset.action_rot_sample_method=axis_angle_uniform_z dm.train_dset.anchor_rot_sample_method=axis_angle_uniform_z - -#### TAXPOSE-ALL -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_pregrasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose_all dm.train_dset.anchor_rotation_variance=1e-5 dm.train_dset.action_rot_sample_method=axis_angle_uniform_z dm.train_dset.anchor_rot_sample_method=axis_angle_uniform_z -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_grasp data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose_all dm.train_dset.anchor_rotation_variance=1e-5 dm.train_dset.action_rot_sample_method=axis_angle_uniform_z dm.train_dset.anchor_rot_sample_method=axis_angle_uniform_z -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_lift data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose_all dm.train_dset.anchor_rotation_variance=1e-5 dm.train_dset.action_rot_sample_method=axis_angle_uniform_z dm.train_dset.anchor_rot_sample_method=axis_angle_uniform_z -python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_taxpose_all_place data_root=/data wandb.group=rlbench_put_knife_on_chopping_board_taxpose_all dm.train_dset.anchor_rotation_variance=1e-5 dm.train_dset.action_rot_sample_method=axis_angle_uniform_z dm.train_dset.anchor_rot_sample_method=axis_angle_uniform_z - -### RLBench Eval. -taskset -c 0-40 python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/eval_rlbench_taxpose_all num_trials=100 resources.num_workers=10 wandb.group=rlbench_put_knife_on_chopping_board headless=True - -## Reach Target - -### Train - -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/reach_target/train_taxpose_all.yaml wandb.group=rlbench_reach_target - -### Eval -python scripts/eval_metrics.py --config-name commands/rlbench/reach_target/eval_taxpose_all_reach data_root=/data wandb.group=rlbench_reach_target - -### RLBench Eval -taskset -c 0-40 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/eval_rlbench_taxpose_all num_trials=100 resources.num_workers=10 wandb.group=rlbench_reach_target headless=True - - - -## RLBench Single eval. - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_pick_and_lift headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_pick_up_cup headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_put_knife_on_chopping_board headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_put_money_in_safe headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/push_button/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_push_button headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_reach_target headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/slide_block_to_target/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_slide_block_to_target headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/stack_wine/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_stack_wine headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_take_money_out_safe headless=True - -WANDB_MODE=disabled taskset -c 0-50 python scripts/eval_rlbench.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/eval_rlbench.yaml num_trials=1 resources.num_workers=0 wandb.group=rlbench_take_umbrella_out_of_umbrella_stand headless=True - - -### Try using whole scene - -WANDB_MODE=disabled python scripts/eval_metrics.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/lift.yaml data_root=/data wandb.group=rlbench_put_knife_on_chopping_board dm.train_dset.demo_dset.anchor_mode="raw" checkpoints.ckpt_file=r-pad/taxpose/model-2t9piqya:v0 - - -### Try various partial scenes... -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode="background_robot_removed" wandb.group=rlbench_reach_target - - - -./launch.sh local 1 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode="background_robot_removed" dm.train_dset.demo_dset.action_mode="gripper_and_object" dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_reach_target - - - -# Cool thing I'm trying... - - - - -mkdir -p configs/checkpoints/rlbench/pick_and_lift/pretraining && touch configs/checkpoints/rlbench/pick_and_lift/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 0 python scripts/train_residual_flow.py --config-name commands/rlbench/pick_and_lift/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_pick_and_lift resources.num_workers=10" \ - "./launch.sh autobot 0 ./configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - echo - - -mkdir -p configs/checkpoints/rlbench/pick_up_cup/pretraining && touch configs/checkpoints/rlbench/pick_up_cup/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 1 python scripts/train_residual_flow.py --config-name commands/rlbench/pick_up_cup/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_pick_up_cup resources.num_workers=10" \ - "./launch.sh autobot 1 ./configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - echo - - -mkdir -p configs/checkpoints/rlbench/put_knife_on_chopping_board/pretraining && touch configs/checkpoints/rlbench/put_knife_on_chopping_board/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 2 python scripts/train_residual_flow.py --config-name commands/rlbench/put_knife_on_chopping_board/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_put_knife_on_chopping_board resources.num_workers=10" \ - "./launch.sh autobot 2 ./configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - echo - - -mkdir -p configs/checkpoints/rlbench/put_money_in_safe/pretraining && touch configs/checkpoints/rlbench/put_money_in_safe/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 3 python scripts/train_residual_flow.py --config-name commands/rlbench/put_money_in_safe/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_put_money_in_safe resources.num_workers=10" \ - "./launch.sh autobot 3 ./configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - echo - - -mkdir -p configs/checkpoints/rlbench/push_button/pretraining && touch configs/checkpoints/rlbench/push_button/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 4 python scripts/train_residual_flow.py --config-name commands/rlbench/push_button/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_push_button resources.num_workers=10" \ - "./launch.sh autobot 4 ./configs/commands/rlbench/push_button/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - echo - - -mkdir -p configs/checkpoints/rlbench/reach_target/pretraining && touch configs/checkpoints/rlbench/reach_target/pretraining/all.yaml -EXTRA_PARAMS="dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - ./scripts/train_eval.sh \ - "./launch.sh local-docker 0 python scripts/train_residual_flow.py --config-name commands/rlbench/reach_target/train_taxpose_all.yaml wandb.group=rlbench_reach_target resources.num_workers=10 ${EXTRA_PARAMS}" \ - "./launch.sh local-docker 0 ./configs/commands/rlbench/reach_target/taxpose_all/precision_eval/precision_eval.sh ${EXTRA_PARAMS}" \ - "./launch.sh local-docker 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml num_trials=100 resources.num_workers=10 wandb.group=rlbench_reach_target headless=True ${EXTRA_PARAMS}" - -EXTRA_PARAMS="dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - ./scripts/train_eval.sh \ - "./launch.sh autobot 0 python scripts/train_residual_flow.py --config-name commands/rlbench/reach_target/train_taxpose_all.yaml wandb.group=rlbench_reach_target resources.num_workers=10 ${EXTRA_PARAMS}" \ - "./launch.sh autobot 0 ./configs/commands/rlbench/reach_target/taxpose_all/precision_eval/precision_eval.sh ${EXTRA_PARAMS}" \ - "./launch.sh autobot 0 python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml num_trials=100 resources.num_workers=10 wandb.group=rlbench_reach_target headless=True ${EXTRA_PARAMS}" - - -mkdir -p configs/checkpoints/rlbench/slide_block_to_target/pretraining && touch configs/checkpoints/rlbench/slide_block_to_target/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 6 python scripts/train_residual_flow.py --config-name commands/rlbench/slide_block_to_target/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_slide_block_to_target resources.num_workers=10" \ - "./launch.sh autobot 6 ./configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - echo - - -mkdir -p configs/checkpoints/rlbench/stack_wine/pretraining && touch configs/checkpoints/rlbench/stack_wine/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 7 python scripts/train_residual_flow.py --config-name commands/rlbench/stack_wine/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_stack_wine resources.num_workers=10" \ - "./launch.sh autobot 7 ./configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512" \ - echo - - -mkdir -p configs/checkpoints/rlbench/take_money_out_safe/pretraining && touch configs/checkpoints/rlbench/take_money_out_safe/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 0 python scripts/train_residual_flow.py --config-name commands/rlbench/take_money_out_safe/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_take_money_out_safe resources.num_workers=10 data_root=/home/beisner/datasets" \ - "./launch.sh autobot 0 ./configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 data_root=/home/beisner/datasets" \ - echo - - -mkdir -p configs/checkpoints/rlbench/take_umbrella_out_of_umbrella_stand/pretraining && touch configs/checkpoints/rlbench/take_umbrella_out_of_umbrella_stand/pretraining/all.yaml -./scripts/train_eval.sh \ - "./launch.sh autobot 1 python scripts/train_residual_flow.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/train_taxpose_all.yaml dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 wandb.group=rlbench_take_umbrella_out_of_umbrella_stand resources.num_workers=10 data_root=/home/beisner/datasets" \ - "./launch.sh autobot 1 ./configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 data_root=/home/beisner/datasets" \ - echo - - -### Redo the evals... -./launch.sh autobot 0 ./configs/commands/rlbench/pick_and_lift/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-a8vhdn5b:v0 - -./launch.sh autobot 1 ./configs/commands/rlbench/pick_up_cup/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-nay0eueg:v0 - -./launch.sh autobot 2 ./configs/commands/rlbench/put_knife_on_chopping_board/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-opjzx3mi:v0 - -./launch.sh autobot 3 ./configs/commands/rlbench/put_money_in_safe/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-m2eb9u1s:v0 - -./launch.sh autobot 4 ./configs/commands/rlbench/push_button/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-gjzsgkkh:v0 - -./launch.sh autobot 5 ./configs/commands/rlbench/reach_target/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-yz9e7iz8:v0 - -./launch.sh autobot 6 ./configs/commands/rlbench/slide_block_to_target/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-kpbx8qf4:v0 - -./launch.sh autobot 7 ./configs/commands/rlbench/stack_wine/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-nixx3qii:v0 - -./launch.sh autobot 8 ./configs/commands/rlbench/take_money_out_safe/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-1gmi342v:v0 - -./launch.sh local 1 ./configs/commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/precision_eval/precision_eval.sh dm.train_dset.demo_dset.anchor_mode=background_robot_removed dm.train_dset.demo_dset.action_mode=gripper_and_object dm.train_dset.demo_dset.num_points=512 checkpoints.ckpt_file=r-pad/taxpose/model-1y7t5g4o:v0 data_root=/home/beisner/datasets diff --git a/scripts/create_rlbench_dataset.py b/scripts/create_rlbench_dataset.py deleted file mode 100644 index 59b1dd7..0000000 --- a/scripts/create_rlbench_dataset.py +++ /dev/null @@ -1,41 +0,0 @@ -from pathlib import Path - -import numpy as np -import typer -from rpad.rlbench_utils.placement_dataset import RLBenchPlacementDataset - - -def main( - rlbench_root: Path = typer.Argument(..., exists=True, file_okay=False), - out_dir: Path = typer.Argument(..., file_okay=False), - task_name: str = "stack_wine", - phase: str = "grasp", -): - out_task_dir = out_dir / task_name / phase - if not out_task_dir.exists(): - out_task_dir.mkdir(parents=True) - - # Count the number of directories in the task folder: - task_folder = rlbench_root / task_name / "variation0/episodes" - n_files = len(list(task_folder.iterdir())) - - dset = RLBenchPlacementDataset( - dataset_root=str(rlbench_root), - task_name=task_name, - n_demos=n_files, - phase=phase, - ) - - # Iterate over the dataset. - for i in range(len(dset)): - data = dset[i] - - # Save the data to a file. - np.savez( - out_task_dir / f"episode{i}.npz", - **{k: v.numpy().astype(np.float32) for k, v in data.items()}, - ) - - -if __name__ == "__main__": - typer.run(main) diff --git a/scripts/debug_headless.py b/scripts/debug_headless.py deleted file mode 100644 index 6760dc0..0000000 --- a/scripts/debug_headless.py +++ /dev/null @@ -1,26 +0,0 @@ -import time - -import numpy as np -from rlbench.action_modes.action_mode import MoveArmThenGripper -from rlbench.action_modes.arm_action_modes import JointVelocity -from rlbench.action_modes.gripper_action_modes import Discrete -from rlbench.environment import Environment -from rlbench.tasks import FS10_V1 - -action_mode = MoveArmThenGripper( - arm_action_mode=JointVelocity(), gripper_action_mode=Discrete() -) -env = Environment(action_mode, headless=True) -env.launch() - -train_tasks = FS10_V1["train"] -test_tasks = FS10_V1["test"] -task_to_train = np.random.choice(train_tasks, 1)[0] -task = env.get_task(task_to_train) -task.sample_variation() # random variation -descriptions, obs = task.reset() - -# Step for 10s wall clock time -start = time.time() -while time.time() - start < 10: - obs, reward, terminate = task.step(np.random.normal(size=env.action_shape)) diff --git a/scripts/eval_rlbench.py b/scripts/eval_rlbench.py deleted file mode 100644 index fff9820..0000000 --- a/scripts/eval_rlbench.py +++ /dev/null @@ -1,1041 +0,0 @@ -import logging -import os -import pickle -from abc import abstractmethod -from dataclasses import dataclass -from enum import Enum -from pathlib import Path -from typing import Any, Dict, List, Protocol, Tuple - -import hydra -import joblib -import numpy as np -import open3d as o3d -import pandas as pd -import plotly.graph_objects as go -import plotly.io as pio -import rpad.visualize_3d.plots as rvp -import torch -import tqdm -import wandb -from omegaconf import OmegaConf -from pyrep.backend import sim -from pyrep.const import RenderMode -from pytorch3d.ops import sample_farthest_points -from rlbench.action_modes.action_mode import MoveArmThenGripper -from rlbench.action_modes.arm_action_modes import EndEffectorPoseViaPlanning -from rlbench.action_modes.gripper_action_modes import Discrete -from rlbench.environment import Environment -from rlbench.observation_config import ObservationConfig -from rlbench.utils import name_to_task_class -from rpad.rlbench_utils.placement_dataset import ( - BACKGROUND_NAMES, - GRIPPER_OBJ_NAMES, - ROBOT_NONGRIPPER_NAMES, - TASK_DICT, - ActionMode, - AnchorMode, - filter_out_names, - get_rgb_point_cloud_by_object_names, - obs_to_rgb_point_cloud, -) -from scipy.spatial.transform import Rotation as R - -import taxpose.utils.website as tuw -from taxpose.datasets.rlbench import ( - colorize_symmetry_labels, - remove_outliers, - rotational_symmetry_labels, -) -from taxpose.nets.transformer_flow import ResidualFlow_DiffEmbTransformer -from taxpose.train_pm_placement import theta_err -from taxpose.training.flow_equivariance_training_module_nocentering import ( - EquivarianceTrainingModule, -) -from taxpose.utils.load_model import get_weights_path - -TASK_TO_IGNORE_COLLISIONS = { - "pick_and_lift": { - "pregrasp": False, - "grasp": False, - "lift": True, - "final": True, - }, - "pick_up_cup": { - "pregrasp": False, - "grasp": False, - "lift": True, - }, - "put_knife_on_chopping_board": { - "pregrasp": False, - "grasp": False, - "lift": True, - "place": True, - }, - "put_money_in_safe": { - "pregrasp": False, - "grasp": False, - "lift": True, - "preplace": False, - "place": False, - }, - "push_button": { - "prepush": False, - "postpush": True, - }, - "reach_target": { - "reach": False, - }, - "slide_block_to_target": { - "preslide": False, - "postslide": True, - }, - "stack_wine": { - "pregrasp": False, - "grasp": False, - "lift": True, - "preplace": False, - "place": False, - }, - "take_money_out_safe": { - "pregrasp": False, - "grasp": True, - "lift": True, - "place": False, - }, - "take_umbrella_out_of_umbrella_stand": { - "pregrasp": False, - "grasp": False, - "lift": True, - }, -} - - -class TaskVideoRecorder: - def __init__(self, scene, cam_name: str): - self.frames = [] - self.scene = scene - self.cam_name = cam_name - - def step(self): - obs = self.scene.get_observation() - - # the cam_name is an attribute of the observation, not a dict key. - if not hasattr(obs, self.cam_name): - raise ValueError(f"Camera {self.cam_name} not found in observation.") - - self.frames.append(getattr(obs, self.cam_name)) - - def write_video(self, video_path: str): - if len(self.frames) == 0: - return - - import cv2 - - # Write the video. - height, width, _ = self.frames[0].shape - # fourcc = cv2.VideoWriter_fourcc(*"mp4v") - fourcc = cv2.VideoWriter_fourcc(*"mp4v") - out = cv2.VideoWriter(f"{video_path}.mp4", fourcc, 20.0, (width, height)) - - for frame in self.frames: - out.write(frame) - - out.release() - - # ffmpeg -i "$file" -c:v libx264 -c:a aac "${file%.mp4}.mov" - os.system( - f"/usr/bin/ffmpeg -i {video_path}.mp4 -c:v libx264 -c:a aac {video_path}.mov" - ) - - -# # HEHEH extremely hacky way to add a method to a class. -# def RecordedTask(task: Type[Task], video_path: str) -> Type[Task]: - -# def step(self): -# super(task, self).step() -# breakpoint() - -# _RecordedTask = type( -# task.__name__, -# (task,), -# { -# "video_path": video_path, -# "frames": [], -# "step": step, -# }, -# ) - -# return _RecordedTask - - -class RelativePosePredictor(Protocol): - @abstractmethod - def predict(self, obs, phase: str) -> Tuple[np.ndarray, Dict[str, Any]]: - pass - - -class PickPlacePredictor(Protocol): - @abstractmethod - def grasp(self, obs) -> np.ndarray: - pass - - @abstractmethod - def place(self, init_obs, post_grasp_obs) -> np.ndarray: - pass - - -def create_coordinate_frame(T, size=0.1): - frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=size) - frame.transform(T) - return frame - - -def bottle_symmetry_features(points): - # TODO - hack: right now assume the bottle is vertical. - assert len(points.shape) == 2 - - action_symmetry_axis = np.array([0, 0, 1], dtype=np.float32) - action_second_axis = np.array([1, 0, 0], dtype=np.float32) - - action_symmetry_features = rotational_symmetry_labels( - points, action_symmetry_axis, action_second_axis - )[..., None] - - return action_symmetry_features - - -def rack_symmetry_features(points): - return np.ones((points.shape[0], 1), dtype=np.float32) - - -def viz_symmetry_features( - action_pc, - anchor_pc, - action_symmetry_features, - anchor_symmetry_features, -): - action_symmetry_rgb = colorize_symmetry_labels(action_symmetry_features[..., 0]) - anchor_symmetry_rgb = colorize_symmetry_labels(anchor_symmetry_features[..., 0]) - - # Convert to 0-1 range. - action_symmetry_rgb = action_symmetry_rgb / 255.0 - anchor_symmetry_rgb = anchor_symmetry_rgb / 255.0 - - action_symmetry_pc = o3d.geometry.PointCloud() - action_symmetry_pc.points = o3d.utility.Vector3dVector(action_pc.cpu().numpy()) - action_symmetry_pc.colors = o3d.utility.Vector3dVector(action_symmetry_rgb) - - anchor_symmetry_pc = o3d.geometry.PointCloud() - anchor_symmetry_pc.points = o3d.utility.Vector3dVector(anchor_pc.cpu().numpy()) - anchor_symmetry_pc.colors = o3d.utility.Vector3dVector(anchor_symmetry_rgb) - - o3d.visualization.draw_geometries( - [ - action_symmetry_pc, - anchor_symmetry_pc, - ], - window_name="Symmetry Features", - width=1024, - height=768, - ) - - -class TAXPoseRelativePosePredictor(RelativePosePredictor): - def __init__( - self, - policy_spec, - task_cfg, - wandb_cfg, - checkpoints_cfg, - run=None, - debug_viz=False, - ): - self.models = {} - for phase in TASK_DICT[task_cfg.name]["phase_order"]: - if hasattr(checkpoints_cfg, "single_model_override"): - model_path = checkpoints_cfg.single_model_override - else: - model_path = checkpoints_cfg[phase].ckpt_file - self.models[phase] = self.load_model( - model_path, - policy_spec.model, - wandb_cfg, - task_cfg.phases[phase], - run=run, - ) - - self.model_cfg = policy_spec.model - self.task_name = task_cfg.name - self.debug_viz = debug_viz - self.action_mode = task_cfg.action_mode - self.anchor_mode = task_cfg.anchor_mode - - @staticmethod - def render(obs, inputs, preds, T_action_world, T_actionfinal_world): - # Draw a single point cloud. - action_pc_o3d = o3d.geometry.PointCloud() - action_pc_o3d.points = o3d.utility.Vector3dVector( - inputs["action_pc"].cpu().numpy() - ) - action_pc_o3d.colors = o3d.utility.Vector3dVector( - np.array([1, 0, 0]) * np.ones((inputs["action_pc"].shape[0], 3)) - ) - - anchor_pc_o3d = o3d.geometry.PointCloud() - anchor_pc_o3d.points = o3d.utility.Vector3dVector( - inputs["anchor_pc"].cpu().numpy() - ) - anchor_pc_o3d.colors = o3d.utility.Vector3dVector( - np.array([0, 1, 0]) * np.ones((inputs["anchor_pc"].shape[0], 3)) - ) - - pred_pc_o3d = o3d.geometry.PointCloud() - pred_pc_o3d.points = o3d.utility.Vector3dVector( - preds["pred_points_action"][0].cpu().numpy() - ) - pred_pc_o3d.colors = o3d.utility.Vector3dVector( - np.array([0, 0, 1]) * np.ones((preds["pred_points_action"].shape[0], 3)) - ) - - # Draw the coordinate frames. - world_frame = create_coordinate_frame(np.eye(4)) - action_frame = create_coordinate_frame(T_action_world) - actionfinal_frame = create_coordinate_frame(T_actionfinal_world) - - # Draw the geometries - geometries = [ - action_pc_o3d, - anchor_pc_o3d, - pred_pc_o3d, - world_frame, - action_frame, - actionfinal_frame, - ] - o3d.visualization.draw_geometries(geometries) - - @staticmethod - def load_model(model_path, model_cfg, wandb_cfg, task_cfg, run=None): - ckpt_file = get_weights_path(model_path, wandb_cfg, run=run) - network = ResidualFlow_DiffEmbTransformer( - pred_weight=model_cfg.pred_weight, - emb_nn=model_cfg.emb_nn, - emb_dims=model_cfg.emb_dims, - return_flow_component=model_cfg.return_flow_component, - center_feature=model_cfg.center_feature, - # inital_sampling_ratio=model_cfg.inital_sampling_ratio, - residual_on=model_cfg.residual_on, - multilaterate=model_cfg.multilaterate, - sample=model_cfg.mlat_sample, - mlat_nkps=model_cfg.mlat_nkps, - break_symmetry=model_cfg.break_symmetry, - conditional=model_cfg.conditional if "conditional" in model_cfg else False, - ) - model = EquivarianceTrainingModule( - network, - weight_normalize=task_cfg.weight_normalize, - softmax_temperature=task_cfg.softmax_temperature, - sigmoid_on=True, - flow_supervision="both", - ) - weights = torch.load(ckpt_file)["state_dict"] - model.load_state_dict(weights) - - model.eval() - model = model.cuda() - return model - - def predict(self, obs, phase: str, handlemap) -> Tuple[np.ndarray, Dict[str, Any]]: - inputs = obs_to_input( - obs, - self.task_name, - phase, - self.action_mode, - self.anchor_mode, - handlemap, - ) - model = self.models[phase] - device = model.device - - action_pc = inputs["action_pc"].unsqueeze(0).to(device) - anchor_pc = inputs["anchor_pc"].unsqueeze(0).to(device) - - K = self.model_cfg.num_points - action_pc, _ = sample_farthest_points(action_pc, K=K, random_start_point=True) - anchor_pc, _ = sample_farthest_points(anchor_pc, K=K, random_start_point=True) - - if self.model_cfg.break_symmetry: - raise NotImplementedError() - action_symmetry_features = bottle_symmetry_features( - action_pc.cpu().numpy()[0] - ) - anchor_symmetry_features = rack_symmetry_features( - anchor_pc.cpu().numpy()[0] - ) - - if self.debug_viz: - viz_symmetry_features( - action_pc[0], - anchor_pc[0], - action_symmetry_features, - anchor_symmetry_features, - ) - - # Torchify and GPU - action_symmetry_features = torch.from_numpy(action_symmetry_features).to( - device - ) - anchor_symmetry_features = torch.from_numpy(anchor_symmetry_features).to( - device - ) - action_symmetry_features = action_symmetry_features[None] - anchor_symmetry_features = anchor_symmetry_features[None] - else: - action_symmetry_features = None - anchor_symmetry_features = None - - if "conditional" in self.model_cfg and self.model_cfg.conditional: - phase_ix = TASK_DICT[self.task_name]["phase_order"].index(phase) - phase_onehot = np.zeros(len(TASK_DICT[self.task_name]["phase_order"])) - phase_onehot[phase_ix] = 1 - phase_onehot = torch.from_numpy(phase_onehot).to(device)[None] - else: - phase_onehot = None - - preds = model( - action_pc, - anchor_pc, - action_symmetry_features, - anchor_symmetry_features, - phase_onehot, - ) - - # Get the current pose of the gripper. - T_gripper_world = np.eye(4) - T_gripper_world[:3, 3] = obs.gripper_pose[:3] - T_gripper_world[:3, :3] = R.from_quat(obs.gripper_pose[3:]).as_matrix() - T_gripperfinal_gripper = preds["pred_T_action"].get_matrix()[0].T.cpu().numpy() - T_gripperfinal_world = T_gripperfinal_gripper @ T_gripper_world - - if self.debug_viz: - self.render(obs, inputs, preds, T_gripper_world, T_gripperfinal_world) - - fig = rvp.segmentation_fig( - np.concatenate( - [ - inputs["action_pc"].cpu().numpy(), - inputs["anchor_pc"].cpu().numpy(), - preds["pred_points_action"][0].cpu().numpy(), - ], - axis=0, - ), - np.concatenate( - [ - np.zeros((inputs["action_pc"].shape[0],)), - np.ones((inputs["anchor_pc"].shape[0],)), - 2 * np.ones((preds["pred_points_action"][0].shape[0],)), - ] - ).astype(np.int32), - labelmap={ - 0: "action", - 1: "anchor", - 2: "pred", - }, - ) - - return T_gripperfinal_world, {"plot": fig} - - -class RandomPickPlacePredictor(RelativePosePredictor): - def __init__(self, cfg, xrange, yrange, zrange, grip_rot=None): - self.cfg = cfg - self.xrange = xrange - self.yrange = yrange - self.zrange = zrange - self.grip_rot = grip_rot - - @staticmethod - def _get_random_pose(xrange=None, yrange=None, zrange=None, grip_rot=None): - if xrange is None: - xrange = (-0.3, 0.3) - if yrange is None: - yrange = (-0.3, 0.3) - if zrange is None: - zrange = (0.3, 0.5) - - t_rand = np.array( - [ - np.random.uniform(xrange[0], xrange[1]), - np.random.uniform(yrange[0], yrange[1]), - np.random.uniform(zrange[0], zrange[1]), - ] - ) - - if grip_rot is None: - R_rand = R.random().as_matrix() - else: - R_rand = R.from_quat(grip_rot).as_matrix() - - T_rand = np.eye(4) - T_rand[:3, :3] = R_rand - T_rand[:3, 3] = t_rand - return T_rand - - def predict(self, obs, phase) -> Tuple[np.ndarray, Dict[str, Any]]: - return ( - self._get_random_pose(self.xrange, self.yrange, self.zrange, self.grip_rot), - {}, - ) - - -def get_handle_mapping(): - handles = { - sim.simGetObjectName(handle): handle - for handle in sim.simGetObjects(sim.sim_handle_all) - } - return handles - - -# TODO: put this in the original rlbench library. -def obs_to_input( - obs, - task_name, - phase, - action_mode: ActionMode, - anchor_mode: AnchorMode, - handlemap, -): - rgb, point_cloud, mask = obs_to_rgb_point_cloud(obs) - - action_names = TASK_DICT[task_name]["phase"][phase]["action_obj_names"] - if action_mode == ActionMode.GRIPPER_AND_OBJECT: - action_names += GRIPPER_OBJ_NAMES - elif action_mode == ActionMode.OBJECT: - pass - else: - raise ValueError(f"Invalid action mode: {action_mode}") - - action_rgb, action_point_cloud = get_rgb_point_cloud_by_object_names( - rgb, point_cloud, mask, action_names - ) - - if anchor_mode == AnchorMode.RAW: - raise NotImplementedError() - elif anchor_mode == AnchorMode.BACKGROUND_REMOVED: - raise NotImplementedError() - elif anchor_mode == AnchorMode.BACKGROUND_ROBOT_REMOVED: - anchor_rgb, anchor_point_cloud = filter_out_names( - rgb, - point_cloud, - mask, - handlemap, - BACKGROUND_NAMES + ROBOT_NONGRIPPER_NAMES, - ) - elif anchor_mode == AnchorMode.SINGLE_OBJECT: - # Get the rgb and point cloud for the anchor objects. - anchor_rgb, anchor_point_cloud = get_rgb_point_cloud_by_object_names( - rgb, - point_cloud, - mask, - TASK_DICT[task_name]["phase"][phase]["anchor_obj_names"], - ) - else: - raise ValueError(f"Invalid anchor mode: {anchor_mode}") - - # Remove outliers in the same way... - action_point_cloud = remove_outliers(action_point_cloud[None])[0] - - if ( - anchor_mode != AnchorMode.RAW - and anchor_mode != AnchorMode.BACKGROUND_ROBOT_REMOVED - ): - anchor_point_cloud = remove_outliers(anchor_point_cloud[None])[0] - - # Visualize the point clouds. - # act_pc = o3d.geometry.PointCloud() - # act_pc.points = o3d.utility.Vector3dVector(action_point_cloud) - # act_pc.colors = o3d.utility.Vector3dVector( - # np.array([1, 0, 0]) * np.ones((action_point_cloud.shape[0], 3)) - # ) - - # anc_pc = o3d.geometry.PointCloud() - # anc_pc.points = o3d.utility.Vector3dVector(anchor_point_cloud) - # anc_pc.colors = o3d.utility.Vector3dVector( - # np.array([0, 1, 0]) * np.ones((anchor_point_cloud.shape[0], 3)) - # ) - - # o3d.visualization.draw_geometries([act_pc, anc_pc]) - - return { - "action_rgb": torch.from_numpy(action_rgb), - "action_pc": torch.from_numpy(action_point_cloud).float(), - "anchor_rgb": torch.from_numpy(anchor_rgb), - "anchor_pc": torch.from_numpy(anchor_point_cloud).float(), - } - - -# We may need to add more failure reasons. -class FailureReason(str, Enum): - NOT_ATTEMPTED = "not_attempted" - NO_FAILURE = "no_failure" - PREDICTION_OUTSIDE_WORKSPACE = "prediction_outside_workspace" - MOTION_PLANNING_FAILURE = "motion_planning_failure" - PREDICTION_FAILURE = "prediction_failure" - CAUSED_TERMINATION = "caused_termination" - UNKNOWN_FAILURE = "unknown_failure" - FINAL_PHASE_NO_SUCCESS = "final_phase_no_success" - - -@dataclass -class PhaseResult: - phase: str - failure_reason: FailureReason - - -@dataclass -class TrialResult: - success: bool - - # Failure is either a global failure, or a map from phase to failure reason. - failure_reason: List[PhaseResult] - - -def get_obs_config(): - """We have to do this to match the distribution of the training data!""" - - img_size = (256, 256) - obs_config = ObservationConfig() - obs_config.set_all(True) - obs_config.right_shoulder_camera.image_size = img_size - obs_config.left_shoulder_camera.image_size = img_size - obs_config.overhead_camera.image_size = img_size - obs_config.wrist_camera.image_size = img_size - obs_config.front_camera.image_size = img_size - - # Store depth as 0 - 1 - obs_config.right_shoulder_camera.depth_in_meters = False - obs_config.left_shoulder_camera.depth_in_meters = False - obs_config.overhead_camera.depth_in_meters = False - obs_config.wrist_camera.depth_in_meters = False - obs_config.front_camera.depth_in_meters = False - - # We DON'T want to save masks as rgb. - obs_config.left_shoulder_camera.masks_as_one_channel = True - obs_config.right_shoulder_camera.masks_as_one_channel = True - obs_config.overhead_camera.masks_as_one_channel = True - obs_config.wrist_camera.masks_as_one_channel = True - obs_config.front_camera.masks_as_one_channel = True - - obs_config.right_shoulder_camera.render_mode = RenderMode.OPENGL3 - obs_config.left_shoulder_camera.render_mode = RenderMode.OPENGL3 - obs_config.overhead_camera.render_mode = RenderMode.OPENGL3 - obs_config.wrist_camera.render_mode = RenderMode.OPENGL3 - obs_config.front_camera.render_mode = RenderMode.OPENGL3 - - return obs_config - - -def move(action: np.ndarray, task, env, max_tries=10, ignore_collisions=False): - try_count = 0 - - p_desired = action[:3] - q_desired = action[3:7] - - env._action_mode.arm_action_mode._collision_checking = not ignore_collisions - - while try_count < max_tries: - obs, reward, terminate = task.step(action) - - # Check to make sure that the achieved pose is close to the desired pose. - p_achieved = obs.gripper_pose[:3] - q_achieved = obs.gripper_pose[3:7] - - p_diff = np.linalg.norm(p_desired - p_achieved) - q_diff = theta_err( - torch.from_numpy(R.from_quat(q_desired).as_matrix()), - torch.from_numpy(R.from_quat(q_achieved).as_matrix()), - ) - - criteria = (p_diff < 5e-3, q_diff < 1) - - if all(criteria) or reward == 1: - break - - logging.warning( - f"Too far away (pos: {p_diff:.3f}, rot: {q_diff:.3f}... Retrying..." - ) - try_count += 1 - - return obs, reward, terminate - - -@torch.no_grad() -def run_trial( - policy_spec, - task_spec, - env_spec, - checkpoints, - wandb_cfg, - headless=True, - run=None, - trial_num=0, -) -> TrialResult: - # Seed the random number generator. - - # TODO: beisner need to seeeeeed. - - # Create the policy. - # policy = TAXPosePickPlacePredictor( - # policy_spec, - # task_spec, - # task_spec.wandb, - # task_spec.checkpoints, - # run=run, - # debug_viz=not headless, - # ) - - policy: RelativePosePredictor = TAXPoseRelativePosePredictor( - policy_spec, - task_spec, - wandb_cfg, - checkpoints, - run=run, - debug_viz=not headless, - ) - # policy: RelativePosePredictor = RandomPickPlacePredictor( - # policy_spec, (-0.3, 0.3), (-0.3, 0.3), (0.3, 0.5) - # ) - - # Create the environment. - collision_checking = ( - policy_spec.collision_checking if "collision_checking" in policy_spec else True - ) - env = Environment( - action_mode=MoveArmThenGripper( - arm_action_mode=EndEffectorPoseViaPlanning( - collision_checking=collision_checking - ), - gripper_action_mode=Discrete(), - ), - obs_config=get_obs_config(), - headless=headless, - ) - - phase_order = TASK_DICT[task_spec.name]["phase_order"] - - # Keep track of the results for each phase. - phase_results = {phase: FailureReason.NOT_ATTEMPTED for phase in phase_order} - - # Helper function to order the phases sequentially in the results. - def pr(): - return [PhaseResult(phase, phase_results[phase]) for phase in phase_order] - - try: - task_cls = name_to_task_class(task_spec.name) - # task_cls = RecordedTask(task_cls, video_path="video.mp4") - task = env.get_task(task_cls) - task.sample_variation() - - recorder = TaskVideoRecorder(task._scene, "front_rgb") - - task._scene.register_step_callback(recorder.step) - - handlemap = get_handle_mapping() - - # Reset the environment. For now, ignore descriptions. - _, obs = task.reset() - except Exception as e: - env.shutdown() - print(f"Failed to reset the environment: {e}") - success = False - return TrialResult(success, pr()) - - try: - - # Loop through the phases, and predict. - phase_plots: List[go.Figure] = [] - for phase in phase_order: - # Try to make a predictions. - try: - T_gripper_world, extras = policy.predict(obs, phase, handlemap) - if "plot" in extras: - phase_plots.append((phase, extras["plot"])) - except Exception as e: - print(e) - phase_results[phase] = FailureReason.PREDICTION_FAILURE - success = False - return TrialResult(success, pr()) - - # Compute the transform. - p_gripper_world = T_gripper_world[:3, 3] - q_gripper_world = R.from_matrix(T_gripper_world[:3, :3]).as_quat() - if TASK_DICT[task_spec.name]["phase"][phase]["gripper_open"]: - gripper_state = np.array([1.0]) - else: - gripper_state = np.array([0.0]) - action = np.concatenate([p_gripper_world, q_gripper_world, gripper_state]) - - # Attempt the action. - try: - obs, reward, terminate = move( - action, - task, - env, - max_tries=10, - ignore_collisions=TASK_TO_IGNORE_COLLISIONS[task_spec.name][phase], - ) # Eventually add collision checking. - - except Exception as e: - if "workspace" in str(e): - phase_results[phase] = FailureReason.PREDICTION_OUTSIDE_WORKSPACE - else: - phase_results[phase] = FailureReason.MOTION_PLANNING_FAILURE - success = False - return TrialResult(success, pr()) - - phase_results[phase] = FailureReason.NO_FAILURE - - if reward == 1: - success = True - return TrialResult(success, pr()) - - if terminate: - phase_results[phase] = FailureReason.CAUSED_TERMINATION - success = False - return TrialResult(success, pr()) - - # Check if it's the final phase, and if we haven't succeeded... - if phase == phase_order[-1]: - phase_results[phase] = FailureReason.FINAL_PHASE_NO_SUCCESS - success = False - return TrialResult(success, pr()) - - print("unknown failure") - return TrialResult(False, pr()) - except Exception as e: - print(e) - success = False - return TrialResult(success, pr()) - - finally: - # Close the environment. - env.shutdown() - - # Make a directory for the entire episode. - if not os.path.exists("episodes"): - os.makedirs("episodes") - - # Make a directory for the trial. - if not os.path.exists(f"episodes/{trial_num}"): - os.makedirs(f"episodes/{trial_num}") - else: - raise ValueError(f"Directory episodes/{trial_num} already exists.") - - # website = PlotlyWebsiteBuilder(f"episode_{trial_num}") - website_plots = [] - website_video = None - - # Save phase plots. - for phase, fig in phase_plots: - # Add a title to the figure: - fig.update_layout(title_text=f"Phase: {phase}") - fig.write_html(f"episodes/{trial_num}/{phase}.html") - # website.add_plot(task_spec.name, f"{task_spec.name}_{trial_num}", fig) - website_plots.append( - pio.to_html(fig, full_html=False, include_plotlyjs=False) - ) - - # Save the episode video. - fn = f"episodes/{trial_num}/video" - recorder.write_video(fn) - # website.add_video(task_spec.name, f"{task_spec.name}_{trial_num}", f"video.mov") - website_video = f"video.mov" - - # Save the episode results as a text file. - with open(f"episodes/{trial_num}/results.txt", "w") as f: - - # Print overall task success. - f.write(f"OVERALL TASK SUCCESS: {success}\n") - - for phase_result in pr(): - f.write(f"{phase_result.phase}: {phase_result.failure_reason}\n") - - # - html = tuw.render_episode_page( - title=f"Episode {trial_num}, {task_spec.name}", - phase_plots=website_plots, - video=website_video, - ) - with open(f"episodes/{trial_num}/index.html", "w") as f: - f.write(html) - - # website.write_site(f"episodes/{trial_num}") - - -def run_trials( - policy_spec, - task_spec, - env_spec, - checkpoints, - wandb_cfg, - num_trials, - headless=True, - run=None, - num_workers=10, -): - # TODO: Parallelize this. Should all be picklable. - - if num_workers <= 1: - results = [] - for i in range(num_trials): - result = run_trial( - policy_spec, - task_spec, - env_spec, - checkpoints, - wandb_cfg, - headless=headless, - run=run, - trial_num=i, - ) - logging.info(f"Trial {i}: {result}") - results.append(result) - else: - # Try with joblib. Let's see if this works. - job_results = joblib.Parallel(n_jobs=num_workers, return_as="generator")( - joblib.delayed(run_trial)( - policy_spec, - task_spec, - env_spec, - checkpoints, - wandb_cfg, - headless=headless, - run=None, # run is unpickleable... - trial_num=i, - ) - for i in range(num_trials) - ) - results = [r for r in tqdm.tqdm(job_results, total=num_trials)] - - return results - - -@hydra.main(version_base="1.2", config_path="../configs", config_name="eval_rlbench") -def main(cfg): - print(OmegaConf.to_yaml(cfg, resolve=True)) - # Force the hydra config cfg to be resolved - cfg = OmegaConf.create(OmegaConf.to_yaml(cfg, resolve=True)) - - # Initialize wandb. - run = wandb.init( - job_type=cfg.job_type, - project=cfg.wandb.project, - entity=cfg.wandb.entity, - group=cfg.wandb.group, - config=OmegaConf.to_container(cfg, resolve=True, throw_on_missing=True), - ) - - results = run_trials( - cfg.policy_spec, - cfg.task, - None, - cfg.checkpoints, - cfg.wandb, - cfg.num_trials, - headless=cfg.headless, - run=run, - num_workers=cfg.resources.num_workers, - ) - - # Compute some metrics. - num_successes = sum([1 for r in results if r.success]) - num_failures = sum([1 for r in results if not r.success]) - print(f"Successes: {num_successes}") - print(f"Failures: {num_failures}") - - # Count failure reasons - # Aggregate per-phase failure reasons. - failure_reason_counts = { - phase: {reason.name: 0 for reason in FailureReason} - for phase in TASK_DICT[cfg.task.name]["phase_order"] - } - for result in results: - for pr in result.failure_reason: - pr: PhaseResult - failure_reason_counts[pr.phase][pr.failure_reason.name] += 1 - - # Flatten the structure so that the keys are phase_reason. - failure_reason_counts = { - f"{phase}_{reason}": count - for phase, reasons in failure_reason_counts.items() - for reason, count in reasons.items() - } - - results_dir = Path(cfg.output_dir) - - # Create a pandas dataframe for the results statistics. - # The df should have a column for successes, failures, success rate, and a column with - # counts for each failure reason. - df = pd.DataFrame( - { - "successes": [num_successes], - "failures": [num_failures], - "success_rate": [num_successes / cfg.num_trials], - **failure_reason_counts, - } - ) - - for phase in TASK_DICT[cfg.task.name]["phase_order"]: - # Get all columns that start with the phase name. - print(f"Phase: {phase}") - phase_cols = [col for col in df.columns if col.startswith(phase)] - phase_df = df[phase_cols] - phase_df = phase_df.rename(columns=lambda x: x[len(phase) + 1 :]) - print(phase_df) - - # Save the results to wandb as a table. - run.log( - { - "results_table": wandb.Table(dataframe=df), - } - ) - - # Pickle the results and stats. - # breakpoint() - # Somehow, pickle isn't working with nested enum stuff. - - pkl_results = [ - { - "success": r.success, - "failure_reason": [ - {"phase": pr.phase, "failure_reason": pr.failure_reason.name} - for pr in r.failure_reason - ], - } - for r in results - ] - - with open(results_dir / "results.pkl", "wb") as f: - pickle.dump(pkl_results, f) - - with open(results_dir / "stats.pkl", "wb") as f: - pickle.dump( - { - "num_successes": num_successes, - "num_failures": num_failures, - "success_rate": num_successes / cfg.num_trials, - "failure_reason_counts": failure_reason_counts, - }, - f, - ) - - html = tuw.render_experiment_page( - title=f"Experiment {run.id}", - episode_nums=range(cfg.num_trials), - ) - with open(results_dir / "index.html", "w") as f: - f.write(html) - - -if __name__ == "__main__": - main() diff --git a/scripts/generate_task_configs.py b/scripts/generate_task_configs.py deleted file mode 100644 index 4e11c82..0000000 --- a/scripts/generate_task_configs.py +++ /dev/null @@ -1,338 +0,0 @@ -import os -import shutil -from typing import List - -import typer -import yaml -from rpad.rlbench_utils.task_info import TASK_DICT - -DRY_RUN = False - - -def write_file(path: str, contents: str, dry_run: bool = False, overwrite: bool = True): - if os.path.exists(path) and not overwrite: - print(f"File {path} already exists and overwrite is False. Skipping.") - return - if not dry_run: - with open(path, "w") as f: - f.write(contents) - else: - print(f"Writing to {path}") - print(contents) - - -def make_dirs(path: str, dry_run: bool = False): - if not dry_run: - os.makedirs(path, exist_ok=True) - else: - print(f"Making dirs at {path}") - - -def copy_file(src: str, dst: str, dry_run: bool = False): - if not dry_run: - shutil.copyfile(src, dst) - else: - print(f"Copying {src} to {dst}") - - -def generate_task_configs(task_name: str, config_root: str, dry_run: bool = False): - task_dir = os.path.join(config_root, "task", "rlbench", task_name) - - content_dict = {} - - # First, make the task directory structure. - make_dirs(task_dir, dry_run) - make_dirs(os.path.join(task_dir, "phase"), dry_run) - - # Next, generate a task config file for each phase. - for phase in TASK_DICT[task_name]["phase_order"]: - content = { - "name": phase, - "action_class": TASK_DICT[task_name]["phase"][phase]["action_pose_name"], - "anchor_class": TASK_DICT[task_name]["phase"][phase]["anchor_pose_name"], - "softmax_temperature": 0.1, - "weight_normalize": "softmax", - } - content_str = yaml.dump(content) - content_str = "# @package task\n\n" + content_str - content_dict[f"phase/{phase}.yaml"] = content_str - - # Write an "all" config file that includes all phases. - content = { - "name": "all", - "action_class": None, - "anchor_class": None, - "softmax_temperature": 0.1, - "weight_normalize": "softmax", - } - content_str = yaml.dump(content) - content_str = "# @package task\n\n" + content_str - content_dict["phase/all.yaml"] = content_str - - # Write a task-level file. - content = { - "name": task_name, - "defaults": [ - {f"phase@phases.{phase}": phase} - for phase in TASK_DICT[task_name]["phase_order"] - ], - } - content_str = yaml.dump(content) - content_dict["task.yaml"] = content_str - - for fn, contents in content_dict.items(): - write_file(os.path.join(task_dir, fn), contents, dry_run=dry_run) - - -def generate_dataset_configs(task_name: str, config_root: str, dry_run: bool = False): - dataset_dir = os.path.join(config_root, "dataset", "rlbench", task_name) - default_dir = os.path.join(config_root, "dataset", "rlbench", "_default") - make_dirs(dataset_dir, dry_run) - - # Copy the file _default.yaml from the default directory to the task directory, using shutil. - default_file = os.path.join(default_dir, "_default.yaml") - task_file = os.path.join(dataset_dir, "_default.yaml") - copy_file(default_file, task_file, dry_run=dry_run) - - # Parse the _default.yaml file as a yaml file. - with open(task_file, "r") as f: - contents = yaml.load(f, Loader=yaml.FullLoader) - - contents["train_dset"]["demo_dset"]["episodes"] = list(range(100)) - contents["val_dset"]["demo_dset"]["episodes"] = list(range(10)) - - # Write the contents back to the file. - contents_str = yaml.dump(contents) - write_file(task_file, contents_str, dry_run=dry_run, overwrite=True) - - for phase in TASK_DICT[task_name]["phase_order"] + ["all"]: - content = { - "defaults": [ - f"rlbench/{task_name}/_default@_here_", - "_self_", - ] - } - content_str = yaml.dump(content) - write_file( - os.path.join(dataset_dir, f"{phase}.yaml"), content_str, dry_run=dry_run - ) - - -def generate_training_command_configs( - task_name: str, config_root: str, dry_run: bool = False -): - commands_dir = os.path.join(config_root, "commands", "rlbench", task_name) - default_dir = os.path.join(config_root, "commands", "rlbench", "_default") - - 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") - - with open(default_file, "r") as f: - contents = f.read() - contents = contents.replace("DEFAULT", task_name) - write_file(task_file, contents, dry_run=dry_run) - - -def generate_precision_eval_command_configs( - task_name: str, config_root: str, method_name: str, dry_run: bool = False -): - commands_dir = os.path.join( - config_root, "commands", "rlbench", task_name, method_name, "precision_eval" - ) - - 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 - # "/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" - ) - 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("/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) - - -def generate_rlbench_eval_command_configs( - task_name: str, config_root: str, method_name: str, dry_run: bool = False -): - commands_dir = os.path.join( - config_root, "commands", "rlbench", task_name, method_name - ) - - make_dirs(commands_dir, dry_run=dry_run) - - # Copy the "train_taxpose_all.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" - ) - - task_file = os.path.join(commands_dir, "eval_rlbench.yaml") - copy_file(default_file, task_file, dry_run=dry_run) - - # Parse the task_file as a yaml file. - with open(task_file, "r") as f: - contents = yaml.load(f, Loader=yaml.FullLoader) - contents["defaults"][0] = "/eval_rlbench.yaml" - contents["defaults"][1] = {"override /model": method_name} - del contents["defaults"][3] - - # Set the model number of points - if "dm" in contents: - 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) - - # Add a line to the top of the file that says "# @package _global_". - contents_str = "# @package _global_\n\n" + contents_str - write_file(task_file, contents_str, dry_run=dry_run) - - -def generate_precision_eval_script( - task_name: str, config_root: str, method_name: str, dry_run: bool = False -): - script_dir = os.path.join( - config_root, "commands", "rlbench", task_name, method_name, "precision_eval" - ) - make_dirs(script_dir, dry_run=dry_run) - - # Create a file called "precision_eval.sh" in the precision_eval directory. - script_file = os.path.join(script_dir, "precision_eval.sh") - - commands = [ - ( - phase, - f"python scripts/eval_metrics.py --config-name commands/rlbench/{task_name}/{method_name}/precision_eval/{phase} data_root=/data wandb.group=rlbench_{task_name}", - ) - for phase in TASK_DICT[task_name]["phase_order"] - ] - - contents = "#!/bin/bash\n\n" - # We want to pass all arguments provided to the script to each command. - contents += "set -e\n\n" - contents += "echo 'Running precision eval'\n\n" - for phase, command in commands: - contents += 'echo "' + "-" * 80 + '"\n' - contents += f"echo 'Evaluating {phase}'\n" - contents += 'echo "' + "-" * 80 + '"\n' - contents += 'echo "' + command + ' $@"\n\n' - - # Pass the arguments to the command. - contents += command + " $@\n\n" - - write_file(script_file, contents, dry_run=dry_run) - - # Chmod the file to make it executable. - if not dry_run: - 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): - for task_name in task_names: - print(f"Generating task configs for {task_name}") - - config_root = "configs" - - if not evals: - generate_task_configs(task_name, config_root, dry_run=dry_run) - - generate_dataset_configs(task_name, config_root, dry_run=dry_run) - - 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_precision_eval_command_configs( - task_name, config_root, "taxpose_all", dry_run=dry_run - ) - - generate_precision_eval_script( - task_name, config_root, "taxpose_all", dry_run=dry_run - ) - - generate_rlbench_eval_command_configs( - task_name, config_root, "taxpose_all", dry_run=dry_run - ) - - -if __name__ == "__main__": - typer.run(main) diff --git a/scripts/get_results.py b/scripts/get_results.py index 08e577f..d411f39 100644 --- a/scripts/get_results.py +++ b/scripts/get_results.py @@ -1,10 +1,9 @@ import os +import numpy as np import pandas as pd import typer -from taxpose.utils.compile_result import get_result_df - def main(res_dir: str, n_trials: int = 100): # Get the name of every directory in res_dir @@ -21,43 +20,42 @@ def main(res_dir: str, n_trials: int = 100): # Get the path to the result file result_path = os.path.join(res_dir, seed, result_file) - # res = np.load(result_path) - # # Set the index of the dataframe to be the seed - - # succ = np.logical_and( - # res["grasp_success_list"], res["place_success_teleport_list"] - # ) - # mp_succ = np.logical_and(res["grasp_success_list"], res["place_success_list"]) - - # ress = { - # "seed": seed, - # "Grasp": res["grasp_success_list"].astype(float).mean(), - # "Place": res["place_success_teleport_list"].astype(float).mean(), - # "Overall": succ.astype(float).mean(), - # "Overall_mp": mp_succ.astype(float).mean(), - # } - - # for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]: - # ps_at_t = np.logical_and( - # res["place_success_teleport_list"], res["penetration_list"] < thresh - # ).mean(axis=-1) - # s_at_t = np.logical_and(succ, res["penetration_list"] < thresh).mean( - # axis=-1 - # ) - - # ress[f"Place@{thresh}"] = ps_at_t.mean() - # ress[f"Overall@{thresh}"] = s_at_t.mean() - - # results = pd.DataFrame( - # ress, - # columns=["seed", "Grasp", "Place", "Overall", "Overall_mp"] - # + [f"Place@{thresh}" for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]] - # + [f"Overall@{thresh}" for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]], - # index=[0], - # ) - # # set the seed column as the index - # results.set_index("seed", inplace=True) - results = get_result_df(result_path, seed) + res = np.load(result_path) + # Set the index of the dataframe to be the seed + + succ = np.logical_and( + res["grasp_success_list"], res["place_success_teleport_list"] + ) + mp_succ = np.logical_and(res["grasp_success_list"], res["place_success_list"]) + + ress = { + "seed": seed, + "Grasp": res["grasp_success_list"].astype(float).mean(), + "Place": res["place_success_teleport_list"].astype(float).mean(), + "Overall": succ.astype(float).mean(), + "Overall_mp": mp_succ.astype(float).mean(), + } + + for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]: + ps_at_t = np.logical_and( + res["place_success_teleport_list"], res["penetration_list"] < thresh + ).mean(axis=-1) + s_at_t = np.logical_and(succ, res["penetration_list"] < thresh).mean( + axis=-1 + ) + + ress[f"Place@{thresh}"] = ps_at_t.mean() + ress[f"Overall@{thresh}"] = s_at_t.mean() + + results = pd.DataFrame( + ress, + columns=["seed", "Grasp", "Place", "Overall", "Overall_mp"] + + [f"Place@{thresh}" for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]] + + [f"Overall@{thresh}" for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]], + index=[0], + ) + # set the seed column as the index + results.set_index("seed", inplace=True) dfs.append(results) # Concatenate all the results @@ -66,7 +64,6 @@ def main(res_dir: str, n_trials: int = 100): # Save the results df.to_csv(os.path.join(res_dir, "results.csv")) print(df) - return df if __name__ == "__main__": diff --git a/scripts/merge_table.py b/scripts/merge_table.py deleted file mode 100644 index fd9d899..0000000 --- a/scripts/merge_table.py +++ /dev/null @@ -1,40 +0,0 @@ -# function which takes two tables with the same shape, and merges each cell -# by putting a slash between the two values. - - -def merge_table(table1, table2): - """Merge two tables by putting a slash between each cell. - - Args: - table1 (pd.DataFrame): A table. - table2 (pd.DataFrame): A table. - - Returns: - pd.DataFrame: A merged table. - """ - assert table1.shape == table2.shape - # create a new table to store the merged values - table1 = table1.copy() - - # Iterate over the rows. - for i in range(table1.shape[0]): - # Iterate over the columns. - for j in range(table1.shape[1]): - # Merge the two cells. - table1.iloc[i, j] = f"{table1.iloc[i, j]}/{table2.iloc[i, j]}" - return table1 - - -# A function which takes a list of columns and a table, and returns a new table -# with only the specified columns. -def filter_table(columns, table): - """Filter a table by columns. - - Args: - columns (List[str]): A list of columns to keep. - table (pd.DataFrame): A table. - - Returns: - pd.DataFrame: A filtered table. - """ - return table[columns] diff --git a/scripts/new_version.py b/scripts/new_version.py deleted file mode 100644 index 07ed5bb..0000000 --- a/scripts/new_version.py +++ /dev/null @@ -1,200 +0,0 @@ -class ResidualFlow_DiffEmbTransformer(nn.Module): - def __init__( - self, - emb_dims=512, - cycle=True, - emb_nn="dgcnn", - return_flow_component=False, - center_feature=False, - inital_sampling_ratio=0.2, - pred_weight=True, - residual_on=True, - freeze_embnn=False, - return_attn=True, - input_dims=3, - multilaterate=False, - sample: bool = False, - mlat_nkps: int = 100, - ): - super(ResidualFlow_DiffEmbTransformer, self).__init__() - self.emb_dims = emb_dims - self.cycle = cycle - self.input_dims = input_dims - if emb_nn == "pointnet": - self.emb_nn_action = PointNet() - self.emb_nn_anchor = PointNet() - elif emb_nn == "pointnet2ben": - params_action = PN2DenseParams() - params_action.sa1.ratio = inital_sampling_ratio - self.emb_nn_action = Pointnet2Dense(emb_dims, params=params_action) - params_anchor = PN2DenseParams() - params_anchor.sa1.ratio = inital_sampling_ratio - self.emb_nn_anchor = Pointnet2Dense(emb_dims, params=params_anchor) - elif emb_nn == "pointnet2ori": - self.emb_nn_action = pointnet2(emb_dims) - self.emb_nn_anchor = pointnet2(emb_dims) - elif emb_nn == "dgcnn": - self.emb_nn_action = DGCNN( - emb_dims=self.emb_dims, input_dims=self.input_dims - ) - self.emb_nn_anchor = DGCNN( - emb_dims=self.emb_dims, input_dims=self.input_dims - ) - elif emb_nn == "vn": - self.emb_nn_action = VN_PointNet() - self.emb_nn_anchor = VN_PointNet() - else: - raise Exception("Not implemented") - self.center_feature = center_feature - self.pred_weight = pred_weight - self.residual_on = residual_on - self.freeze_embnn = freeze_embnn - self.return_attn = return_attn - - self.transformer_action = Transformer( - emb_dims=emb_dims, return_attn=self.return_attn, bidirectional=False - ) - self.transformer_anchor = Transformer( - emb_dims=emb_dims, return_attn=self.return_attn, bidirectional=False - ) - if multilaterate: - self.head_action = MultilaterationHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - sample=sample, - n_kps=mlat_nkps, - ) - self.head_anchor = MultilaterationHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - sample=sample, - n_kps=mlat_nkps, - ) - else: - self.head_action = ResidualMLPHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - residual_on=self.residual_on, - ) - self.head_anchor = ResidualMLPHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - residual_on=self.residual_on, - ) - - def forward(self, *input): - assert action_points.shape[1] in [ - 3, - 4, - ], "action_points should be of shape (Batch, {3,4}. num_points), but got {}".format( - action_points.shape - ) - # compute action_dmean - if action_points.shape[1] == 4: - raise ValueError("this is not expected...") - # action_xyz = action_points_input[:, :3] - # anchor_xyz = anchor_points_input[:, :3] - # action_sym_cls = action_points_input[:, 3:] - # anchor_sym_cls = anchor_points_input[:, 3:] - # action_xyz_dmean = action_xyz - action_xyz.mean(dim=2, keepdim=True) - # anchor_xyz_dmean = anchor_xyz - anchor_xyz.mean(dim=2, keepdim=True) - # action_points_dmean = torch.cat([action_xyz_dmean, action_sym_cls], axis=1) - # anchor_points_dmean = torch.cat([anchor_xyz_dmean, anchor_sym_cls], axis=1) - - # elif action_points.shape[1] == 3: - - action_points = input[0].permute(0, 2, 1)[:, :3] # B,3,num_points - anchor_points = input[1].permute(0, 2, 1)[:, :3] - - action_points_dmean = action_points - action_points.mean(dim=2, keepdim=True) - anchor_points_dmean = anchor_points - anchor_points.mean(dim=2, keepdim=True) - - # mean center point cloud before DGCNN - if not self.center_feature: - action_points_dmean = action_points - anchor_points_dmean = anchor_points - - action_embedding = self.emb_nn_action(action_points_dmean) - anchor_embedding = self.emb_nn_anchor(anchor_points_dmean) - - if self.freeze_embnn: - action_embedding = action_embedding.detach() - anchor_embedding = anchor_embedding.detach() - - # tilde_phi, phi are both B,512,N - # Get the new cross-attention embeddings. - transformer_action_outputs = self.transformer_action( - action_embedding, anchor_embedding - ) - transformer_anchor_outputs = self.transformer_anchor( - anchor_embedding, action_embedding - ) - action_embedding_tf = transformer_action_outputs["src_embedding"] - action_attn = transformer_action_outputs["src_attn"] - anchor_embedding_tf = transformer_anchor_outputs["src_embedding"] - anchor_attn = transformer_anchor_outputs["src_attn"] - - if not self.return_attn: - action_attn = None - anchor_attn = None - - action_embedding_tf = action_embedding + action_embedding_tf - anchor_embedding_tf = anchor_embedding + anchor_embedding_tf - - if action_attn is not None: - action_attn = action_attn.mean(dim=1) - - head_action_output = self.head_action( - action_embedding_tf, - anchor_embedding_tf, - action_points, - anchor_points, - scores=action_attn, - ) - flow_action = head_action_output["full_flow"].permute(0, 2, 1) - residual_flow_action = head_action_output["residual_flow"].permute(0, 2, 1) - corr_flow_action = head_action_output["corr_flow"].permute(0, 2, 1) - corr_points_action = head_action_output["corr_points"].permute(0, 2, 1) - - outputs = { - "flow_action": flow_action, - "residual_flow_action": residual_flow_action, - "corr_flow_action": corr_flow_action, - "corr_points_action": corr_points_action, - } - - if "P_A" in head_action_output: - original_points_action = head_action_output["P_A"].permute(0, 2, 1) - outputs["original_points_action"] = original_points_action - outputs["sampled_ixs_action"] = head_action_output["A_ixs"] - - if self.cycle: - if anchor_attn is not None: - anchor_attn = anchor_attn.mean(dim=1) - - head_anchor_output = self.head_anchor( - anchor_embedding_tf, - action_embedding_tf, - anchor_points, - action_points, - scores=anchor_attn, - ) - flow_anchor = head_anchor_output["full_flow"].permute(0, 2, 1) - residual_flow_anchor = head_anchor_output["residual_flow"].permute(0, 2, 1) - corr_flow_anchor = head_anchor_output["corr_flow"].permute(0, 2, 1) - corr_points_anchor = head_anchor_output["corr_points"].permute(0, 2, 1) - - outputs = { - **outputs, - "flow_anchor": flow_anchor, - "residual_flow_anchor": residual_flow_anchor, - "corr_flow_anchor": corr_flow_anchor, - "corr_points_anchor": corr_points_anchor, - } - - if "P_A" in head_anchor_output: - original_points_anchor = head_anchor_output["P_A"].permute(0, 2, 1) - outputs["original_points_anchor"] = original_points_anchor - outputs["sampled_ixs_anchor"] = head_anchor_output["A_ixs"] - - return outputs diff --git a/scripts/old_version.py b/scripts/old_version.py deleted file mode 100644 index a109b7d..0000000 --- a/scripts/old_version.py +++ /dev/null @@ -1,155 +0,0 @@ -class ResidualFlow_DiffEmbTransformer(nn.Module): - def __init__( - self, - emb_dims=512, - cycle=True, - emb_nn="dgcnn", - return_flow_component=False, - center_feature=False, - pred_weight=True, - residual_on=True, - freeze_embnn=False, - return_attn=True, - multilaterate=False, - sample: bool = False, - mlat_nkps: int = 100, - ): - super(ResidualFlow_DiffEmbTransformer, self).__init__() - self.emb_dims = emb_dims - self.cycle = cycle - if emb_nn == "dgcnn": - self.emb_nn_action = DGCNN(emb_dims=self.emb_dims) - self.emb_nn_anchor = DGCNN(emb_dims=self.emb_dims) - else: - raise Exception("Not implemented") - self.center_feature = center_feature - self.pred_weight = pred_weight - self.residual_on = residual_on - self.freeze_embnn = freeze_embnn - self.return_attn = return_attn - - self.transformer_action = CustomTransformer( - emb_dims=emb_dims, return_attn=self.return_attn, bidirectional=False - ) - self.transformer_anchor = CustomTransformer( - emb_dims=emb_dims, return_attn=self.return_attn, bidirectional=False - ) - if multilaterate: - self.head_action = MultilaterationHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - sample=sample, - n_kps=mlat_nkps, - ) - self.head_anchor = MultilaterationHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - sample=sample, - n_kps=mlat_nkps, - ) - else: - self.head_action = ResidualMLPHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - residual_on=self.residual_on, - ) - self.head_anchor = ResidualMLPHead( - emb_dims=emb_dims, - pred_weight=self.pred_weight, - residual_on=self.residual_on, - ) - - def forward(self, *input): - action_points = input[0].permute(0, 2, 1)[:, :3] # B,3,num_points - anchor_points = input[1].permute(0, 2, 1)[:, :3] - - action_points_dmean = action_points - action_points.mean(dim=2, keepdim=True) - anchor_points_dmean = anchor_points - anchor_points.mean(dim=2, keepdim=True) - - # mean center point cloud before DGCNN - if not self.center_feature: - action_points_dmean = action_points - anchor_points_dmean = anchor_points - - action_embedding = self.emb_nn_action(action_points_dmean) - anchor_embedding = self.emb_nn_anchor(anchor_points_dmean) - - if self.freeze_embnn: - action_embedding = action_embedding.detach() - anchor_embedding = anchor_embedding.detach() - - # tilde_phi, phi are both B,512,N - # Get the new cross-attention embeddings. - transformer_action_outputs = self.transformer_action( - action_embedding, anchor_embedding - ) - transformer_anchor_outputs = self.transformer_anchor( - anchor_embedding, action_embedding - ) - action_embedding_tf = transformer_action_outputs["src_embedding"] - action_attn = transformer_action_outputs["src_attn"] - anchor_embedding_tf = transformer_anchor_outputs["src_embedding"] - anchor_attn = transformer_anchor_outputs["src_attn"] - - if not self.return_attn: - action_attn = None - anchor_attn = None - - action_embedding_tf = action_embedding + action_embedding_tf - anchor_embedding_tf = anchor_embedding + anchor_embedding_tf - - if action_attn is not None: - action_attn = action_attn.mean(dim=1) - - head_action_output = self.head_action( - action_embedding_tf, - anchor_embedding_tf, - action_points, - anchor_points, - scores=action_attn, - ) - flow_action = head_action_output["full_flow"].permute(0, 2, 1) - residual_flow_action = head_action_output["residual_flow"].permute(0, 2, 1) - corr_flow_action = head_action_output["corr_flow"].permute(0, 2, 1) - corr_points_action = head_action_output["corr_points"].permute(0, 2, 1) - - outputs = { - "flow_action": flow_action, - "residual_flow_action": residual_flow_action, - "corr_flow_action": corr_flow_action, - "corr_points_action": corr_points_action, - } - - if "P_A" in head_action_output: - original_points_action = head_action_output["P_A"].permute(0, 2, 1) - outputs["original_points_action"] = original_points_action - outputs["sampled_ixs_action"] = head_action_output["A_ixs"] - - if self.cycle: - anchor_attn = anchor_attn.mean(dim=1) - head_anchor_output = self.head_anchor( - anchor_embedding_tf, - action_embedding_tf, - anchor_points, - action_points, - scores=anchor_attn, - ) - flow_anchor = head_anchor_output["full_flow"].permute(0, 2, 1) - residual_flow_anchor = head_anchor_output["residual_flow"].permute(0, 2, 1) - corr_flow_anchor = head_anchor_output["corr_flow"].permute(0, 2, 1) - corr_points_anchor = head_anchor_output["corr_points"].permute(0, 2, 1) - - outputs = { - **outputs, - "flow_anchor": flow_anchor, - "residual_flow_anchor": residual_flow_anchor, - "corr_flow_anchor": corr_flow_anchor, - "corr_points_anchor": corr_points_anchor, - } - - if "P_A" in head_anchor_output: - original_points_anchor = head_anchor_output["P_A"].permute(0, 2, 1) - outputs["original_points_anchor"] = original_points_anchor - outputs["sampled_ixs_anchor"] = head_anchor_output["A_ixs"] - - return outputs diff --git a/scripts/reupload_artifact.py b/scripts/reupload_artifact.py deleted file mode 100644 index 7f9aa5f..0000000 --- a/scripts/reupload_artifact.py +++ /dev/null @@ -1,10 +0,0 @@ -import wandb - -run_id = "uszuglfm" -path = "/opt/logs/train_mug_place/2023-08-14/16-50-36/checkpoints/last.ckpt" - - -with wandb.init(id=run_id, resume="allow") as run: - artifact = wandb.Artifact(f"model-{run_id}", "model") - artifact.add_file(path) - run.log_artifact(artifact) diff --git a/scripts/run_rlbench10_rollouts.sh b/scripts/run_rlbench10_rollouts.sh deleted file mode 100755 index 65b447d..0000000 --- a/scripts/run_rlbench10_rollouts.sh +++ /dev/null @@ -1,37 +0,0 @@ -# !/bin/bash - -NUM_TRIALS=100 -NUM_WORKERS=15 -GPU_INDEX=1 - -THESE_EXTRA_ARGS="task.action_mode=gripper_and_object task.anchor_mode=background_robot_removed model.num_points=512 policy_spec.collision_checking=False" - -# pick_and_lift -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/pick_and_lift/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_pick_and_lift headless=True ${THESE_EXTRA_ARGS} - -# # pick_up_cup -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/pick_up_cup/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_pick_up_cup headless=True ${THESE_EXTRA_ARGS} - -# # put_knife_on_chopping_board -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/put_knife_on_chopping_board/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_put_knife_on_chopping_board headless=True ${THESE_EXTRA_ARGS} - -# # put_money_in_safe -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/put_money_in_safe/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_put_money_in_safe headless=True ${THESE_EXTRA_ARGS} - -# # push_button -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/push_button/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_push_button headless=True ${THESE_EXTRA_ARGS} - -# # reach_target -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/reach_target/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_reach_target headless=True ${THESE_EXTRA_ARGS} - -# # slide_block_to_target -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/slide_block_to_target/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_slide_block_to_target headless=True ${THESE_EXTRA_ARGS} - -# # stack_wine -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/stack_wine/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_stack_wine headless=True ${THESE_EXTRA_ARGS} - -# # take_money_out_safe -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/take_money_out_safe/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=$NUM_WORKERS wandb.group=rlbench_take_money_out_safe headless=True ${THESE_EXTRA_ARGS} - -# take_umbrella_out_of_umbrella_stand -./launch.sh local-docker $GPU_INDEX python scripts/eval_rlbench.py --config-name commands/rlbench/take_umbrella_out_of_umbrella_stand/taxpose_all/eval_rlbench.yaml num_trials=$NUM_TRIALS resources.num_workers=3 wandb.group=rlbench_take_umbrella_out_of_umbrella_stand headless=True ${THESE_EXTRA_ARGS} diff --git a/scripts/train_eval.sh b/scripts/train_eval.sh deleted file mode 100755 index 2e77842..0000000 --- a/scripts/train_eval.sh +++ /dev/null @@ -1,46 +0,0 @@ -#!/bin/bash - -# This script will run 3 commands in succession. We'll specify each command as a separate argument to the script. -# Importantly, we'll want to augment the output of commands 2 and 3 with some output generated by command 1 (which returns some stdout value). - -# Get the first command (from the first argument) -cmd1=$1 -# Get the second command (from the second argument) -cmd2=$2 -# Get the third command (from the third argument) -cmd3=$3 - - -# Run the first command and store the output in a variable -# The output of the first command will be used as an argument to the second and third commands - - -tmpfile=$(mktemp) - -# Execute the command, tee the output to both stdout and the temporary file. -$cmd1 | tee "$tmpfile" - -cmd_status=$? - -# Check if the command failed. -echo "Command status: $cmd_status" -if [ $cmd_status -ne 0 ]; then - echo "Command failed with status $cmd_status" - exit $cmd_status -fi - -# Read the temporary file into a variable. -output1=$(<"$tmpfile") - -# output1=$($cmd1 | tee >(cat)) - -# parse the output of the first command, we're looking for something which looks like: "Run ID: d5ymul7w", and we want to extract the "d5ymul7w" part -run_id=$(echo $output1 | grep -oP 'Run ID: \K\w+') - -# Run the second command, passing output1 as an argument -echo $cmd2 checkpoints.ckpt_file=r-pad/taxpose/model-${run_id}:v0 -$cmd2 checkpoints.ckpt_file=r-pad/taxpose/model-${run_id}:v0 - -# Run the third command, passing output1 as an argument -echo $cmd3 +checkpoints.single_model_override=r-pad/taxpose/model-${run_id}:v0 -$cmd3 +checkpoints.single_model_override=r-pad/taxpose/model-${run_id}:v0 diff --git a/taxpose/datasets/real_world_mug.py b/taxpose/datasets/real_world_mug.py deleted file mode 100644 index 5b98db1..0000000 --- a/taxpose/datasets/real_world_mug.py +++ /dev/null @@ -1,103 +0,0 @@ -import functools -import pickle -from dataclasses import dataclass -from pathlib import Path -from typing import ClassVar, List, Optional - -import numpy as np -import torch -from torch.utils.data import Dataset - -from taxpose.datasets.base import PlacementPointCloudData - - -@dataclass -class RealWorldMugPointCloudDatasetConfig: - dataset_type: ClassVar[str] = "real_world_mug" - dataset_root: Path - dataset_indices: Optional[List[int]] = None - start_anchor: bool = False - min_num_cameras: int = 4 - max_num_cameras: int = 4 - num_points: int = 1024 - - -class RealWorldMugPointCloudDataset(Dataset[PlacementPointCloudData]): - def __init__(self, cfg: RealWorldMugPointCloudDatasetConfig): - # Check that all the files in the dataset are there. - - assert cfg.dataset_indices is not None and len(cfg.dataset_indices) > 0 - - self.filenames = [ - Path(cfg.dataset_root) / f"{idx}.pkl" for idx in cfg.dataset_indices - ] - - # Make sure each file exists. - for filename in self.filenames: - assert filename.exists() - - self.start_anchor = cfg.start_anchor - self.min_num_cameras = cfg.min_num_cameras - self.max_num_cameras = cfg.max_num_cameras - self.num_points = cfg.num_points - - # @staticmethod - @functools.cache - def load_data(self, filename, start_anchor=False): - with open(filename, "rb") as f: - sensor_data = pickle.load(f) - - points_action_np = sensor_data["end_action"] - if start_anchor: - points_anchor_np = sensor_data["start_anchor"] - else: - points_anchor_np = sensor_data["end_anchor"] - - points_action_cls = sensor_data["end_action_cam_label"] - if start_anchor: - points_anchor_cls = sensor_data["start_anchor_cam_label"] - else: - points_anchor_cls = sensor_data["end_anchor_cam_label"] - - if self.min_num_cameras < 4: - num_cameras = np.random.randint( - low=self.min_num_cameras, high=self.max_num_cameras + 1 - ) - sampled_camera_idxs = np.random.choice(4, num_cameras, replace=False) - action_valid_idxs = np.isin(points_action_cls, sampled_camera_idxs) - points_action_np = points_action_np[action_valid_idxs] - anchor_valid_idxs = np.isin(points_anchor_cls, sampled_camera_idxs) - points_anchor_np = points_anchor_np[anchor_valid_idxs] - - points_action_mean_np = points_action_np.mean(axis=0) - points_action_np = points_action_np - points_action_mean_np - points_anchor_np = points_anchor_np - points_action_mean_np - - points_action = torch.from_numpy(points_action_np).float().unsqueeze(0) - points_anchor = torch.from_numpy(points_anchor_np).float().unsqueeze(0) - - if points_action.shape[1] < self.num_points: - n = self.num_points // points_action.shape[1] + 1 - points_action = torch.cat([points_action] * n, dim=1) - if points_anchor.shape[1] < self.num_points: - n = self.num_points // points_anchor.shape[1] + 1 - points_anchor = torch.cat([points_action] * n, dim=1) - - return { - "points_action": points_action.numpy(), - "points_anchor": points_anchor.numpy(), - "action_symmetry_features": np.ones_like(points_action[:, :, :1]), - "anchor_symmetry_features": np.ones_like(points_anchor[:, :, :1]), - "action_symmetry_rgb": np.zeros_like( - points_action[:, :, :3], dtype=np.uint8 - ), - "anchor_symmetry_rgb": np.zeros_like( - points_anchor[:, :, :3], dtype=np.uint8 - ), - } - - def __len__(self): - return len(self.filenames) - - def __getitem__(self, idx): - return self.load_data(self.filenames[idx], self.start_anchor) diff --git a/taxpose/datasets/rlbench.py b/taxpose/datasets/rlbench.py deleted file mode 100644 index 72ad1ce..0000000 --- a/taxpose/datasets/rlbench.py +++ /dev/null @@ -1,387 +0,0 @@ -import functools -from dataclasses import dataclass -from pathlib import Path -from typing import ClassVar, Dict, List, Literal, Optional, Tuple, Union - -import numpy as np -import numpy.typing as npt -import open3d as o3d -import torch -from rpad.rlbench_utils.placement_dataset import AnchorMode, RLBenchPlacementDataset -from torch.utils.data import Dataset - -from taxpose.datasets.augmentations import OcclusionConfig, maybe_downsample -from taxpose.datasets.base import PlacementPointCloudData - - -def rotational_symmetry_labels( - points, symmetry_axis, second_axis -) -> npt.NDArray[np.float32]: - """Get some 1-D symmetry labels for rotational symmetry. - - Args: - points (np.ndarray): Point cloud of shape (N, 3). - symmetry_axis (np.ndarray): Axis of symmetry of shape (3,). - second_axis (np.ndarray): Axis which will define a vector to construct a plane. - """ - centered_points = points - np.mean(points, axis=0, keepdims=True) - - # Compute the plane defined by the symmetry axis and the second axis. - plane_normal = np.cross(symmetry_axis, second_axis) - plane_normal /= np.linalg.norm(plane_normal) - - # Get the inner product between the plane normal and the centered points. - inner_products = np.matmul(centered_points, plane_normal) - - # Normalize by the largest inner product. - inner_products /= np.max(np.abs(inner_products)) - - return inner_products.astype(np.float32) - - -DEMO_SYMMETRY_LABELS = { - "stack_wine": { - "action": { - "symmetry_axis": "action_z", - "second_axis": "world_z", - }, - "anchor": None, - }, - "insert_onto_square_peg": { - "action": { - "symmetry_axis": "action_z", - "second_axis": "anchor_x", - }, - "anchor": { - "symmetry_axis": "anchor_z", - # TODO: figure out if we should switch this to y. - "second_axis": "anchor_x", - }, - }, - "phone_on_base": None, - "put_toilet_roll_on_stand": { - "action": { - "symmetry_axis": "action_z", - "second_axis": "world_z", - }, - "anchor": None, - }, - "place_hanger_on_rack": None, - "solve_puzzle": None, - "put_knife_on_chopping_board": None, - "reach_target": None, - "pick_and_lift": None, - "pick_up_cup": None, - "put_money_in_safe": None, - "push_button": None, - "slide_block_to_target": None, - "take_money_out_safe": None, - "take_umbrella_out_of_umbrella_stand": None, -} - - -def get_symmetry_axes(task_name, T_action_world, T_anchor_world): - """Get the symmetry axes from DEMO_SYMMETRY_LABELS. Hacky because of symmetry definition. - - Args: - task_name (str): Task name - T_action_world (np.ndarray): Transform of action point cloud to world. - T_anchor_world (np.ndarray): Transform of anchor point cloud to world. - - Returns: - tuple: (action_symmetry_axis, action_second_axis, anchor_symmetry_axis, anchor_second_axis) - """ - - def index_fn(axis_name): - if "action" in axis_name: - T = T_action_world - elif "anchor" in axis_name: - T = T_anchor_world - else: - T = np.eye(4) - - if "x" in axis_name: - return T[:3, 0] - elif "y" in axis_name: - return T[:3, 1] - elif "z" in axis_name: - return T[:3, 2] - - if DEMO_SYMMETRY_LABELS[task_name] is None: - return None, None, None, None - - action_symmetry_dict = DEMO_SYMMETRY_LABELS[task_name]["action"] - if action_symmetry_dict is None: - action_symmetry_axis = None - action_second_axis = None - else: - action_symmetry_axis = index_fn(action_symmetry_dict["symmetry_axis"]) - action_second_axis = index_fn(action_symmetry_dict["second_axis"]) - - anchor_symmetry_dict = DEMO_SYMMETRY_LABELS[task_name]["anchor"] - if anchor_symmetry_dict is None: - anchor_symmetry_axis = None - anchor_second_axis = None - else: - anchor_symmetry_axis = index_fn(anchor_symmetry_dict["symmetry_axis"]) - anchor_second_axis = index_fn(anchor_symmetry_dict["second_axis"]) - - return ( - action_symmetry_axis, - action_second_axis, - anchor_symmetry_axis, - anchor_second_axis, - ) - - -def colorize_symmetry_labels(labels) -> npt.NDArray[np.uint8]: - """Colorize the symmetry labels to smoothly interpolate between yellow and blue. - - Args: - labels (np.ndarray): (N,) array of symmetry labels. - - Returns: - np.ndarray: (N, 3) array of RGB colors. - """ - # Put them on the range [-255, 255] - color = labels / np.max(np.abs(labels)) * 255 - - # Make a color array. - color_cts = np.zeros((labels.shape[0], 3), dtype=np.uint8) - color_cts[labels >= 0, 0] = color[labels >= 0].astype(np.uint8) - color_cts[labels >= 0, 1] = color[labels >= 0].astype(np.uint8) - color_cts[labels < 0, 2] = np.abs(color[labels < 0]).astype(np.uint8) - return color_cts - - -def remove_outliers_o3d(original_points): - """Remove outliers which are far from other points using pure numpy""" - - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(original_points[0]) - pcd.remove_radius_outlier(nb_points=30, radius=0.03) - pcd.remove_statistical_outlier(nb_neighbors=30, std_ratio=1.0) - - # Next, cluster the points. - labels = np.asarray( - pcd.cluster_dbscan(eps=0.1, min_points=10, print_progress=False) - ) - points = np.asarray(pcd.points) - - # Remove any points with -1 labels - points = points[labels != -1] - - # Print how many were removed. - # print( - # f"Removed {original_points.shape[1] - np.asarray(points).shape[0]} outliers from {original_points.shape[1]} points." - # ) - return np.asarray(points, dtype=np.float32)[None, ...] - - -def remove_outliers(original_points, min_neighbors=1): - """Remove outliers which are far from other points using pure numpy""" - # Compute the distance between each point and every other point. - dists = np.linalg.norm( - original_points[0, None, ...] - original_points[0, :, None, ...], axis=-1 - ) - - # The outliers are the points which are far from other points. Remove points that - # are greater than threshold away from all other points, and ignore the diagonal. - threshold = 0.1 - - # This is really for wine stacking - - # Set diagonal to inf - np.fill_diagonal(dists, np.inf) - - # Detect points which have fewer than min_neighbors neighbors. - neighbors = np.sum(dists < threshold, axis=0) - outliers = np.where(neighbors < min_neighbors)[0] - - # Remove the outliers. - points = np.delete(original_points, outliers, axis=1) - - # Print how many were removed. - # print( - # f"Removed {original_points.shape[1] - points.shape[1]} outliers from {original_points.shape[1]} points." - # ) - return points - - -@dataclass -class RLBenchPointCloudDatasetConfig: - dataset_type: ClassVar[str] = "rlbench" - dataset_root: Path - task_name: str = "stack_wine" - episodes: Union[List[int], Literal["all"]] = "all" - cached: bool = True - phase: str = "grasp" - use_first_as_init_keyframe: bool = True - - # Occlusion config. - occlusion_cfg: Optional[OcclusionConfig] = None - - # Downsample the point clouds. - num_points: Optional[int] = None - - # This allows us to use additonal ground-truth pose information to teleport - # the initial, onoccluded observation to the final, occluded position. - teleport_initial_to_final: bool = True - with_symmetry: bool = True - anchor_mode: str = "single_object" - action_mode: str = "object" - - -class RLBenchPointCloudDataset(Dataset[PlacementPointCloudData]): - def __init__(self, cfg: RLBenchPointCloudDatasetConfig): - super().__init__() - self.dataset = RLBenchPlacementDataset( - dataset_root=cfg.dataset_root, - task_name=cfg.task_name, - demos=cfg.episodes, - phase=cfg.phase, - use_first_as_init_keyframe=cfg.use_first_as_init_keyframe, - anchor_mode=cfg.anchor_mode, - action_mode=cfg.action_mode, - ) - - self.cfg = cfg - - def __len__(self): - return len(self.dataset) - - @functools.lru_cache(maxsize=1000) - def _load_data( - self, index: int - ) -> Tuple[torch.Tensor, torch.Tensor, Dict[str, torch.Tensor]]: - data = self.dataset[index] - # This dataset should really be about the keyframes, but there are some - # occlusions at keyframes. We may want to switch to using an "imagined" - # version of point clouds. - if self.cfg.teleport_initial_to_final: - points_action = data["init_action_pc"].numpy().astype(np.float32) - points_anchor = data["init_anchor_pc"].numpy().astype(np.float32) - - # Teleport the initial point cloud to the final position. - T_init_key = data["T_init_key"].numpy().astype(np.float32) - - # hstack and matmul - points_action = np.hstack( - [ - points_action, - np.ones((points_action.shape[0], 1), dtype=np.float32), - ] - ) - points_action = np.matmul(points_action, T_init_key.T)[:, :3] - - points_action = points_action[None, ...] - points_anchor = points_anchor[None, ...] - - else: - points_action = data["key_action_pc"].numpy().astype(np.float32)[None, ...] - points_anchor = data["key_anchor_pc"].numpy().astype(np.float32)[None, ...] - - # Quickly remove outliers... - points_action = remove_outliers(points_action) - if ( - not self.cfg.anchor_mode == AnchorMode.RAW - and not self.cfg.anchor_mode == AnchorMode.BACKGROUND_ROBOT_REMOVED - ): - points_anchor = remove_outliers(points_anchor) - - new_data = { - "T_action_key_world": data["T_action_key_world"], - "T_anchor_key_world": data["T_anchor_key_world"], - "phase": data["phase"], - "phase_onehot": data["phase_onehot"], - } - return points_action, points_anchor, new_data - - def __getitem__(self, index: int) -> PlacementPointCloudData: - # Load the data. - points_action, points_anchor, data = self._load_data(index) - # Occlude if necessary. - # TODO: implement occlusions here. - - # Downsample if necessary. - try: - points_action = maybe_downsample(points_action, self.cfg.num_points) - - num_anchor_points = ( - self.cfg.num_points - if not self.cfg.anchor_mode == AnchorMode.RAW - else 1024 - ) - points_anchor = maybe_downsample(points_anchor, num_anchor_points) - except: - print(f"Failed to downsample {index}.") - - if self.cfg.with_symmetry: - T_action_key_world = data["T_action_key_world"].numpy().astype(np.float32) - T_anchor_key_world = data["T_anchor_key_world"].numpy().astype(np.float32) - - # Get the symmetry axes. - ( - action_symmetry_axis, - action_second_axis, - anchor_symmetry_axis, - anchor_second_axis, - ) = get_symmetry_axes( - self.cfg.task_name, T_action_key_world, T_anchor_key_world - ) - - # Z is axis of rotation, x is the plane. - if action_symmetry_axis is None: - action_symmetry_features = np.ones( - (1, points_action.shape[1], 1), dtype=np.float32 - ) - else: - action_symmetry_features = rotational_symmetry_labels( - points_action[0], action_symmetry_axis, action_second_axis - )[None, :, None] - - if anchor_symmetry_axis is None: - anchor_symmetry_features = np.ones( - (1, points_anchor.shape[1], 1), dtype=np.float32 - ) - else: - anchor_symmetry_features = rotational_symmetry_labels( - points_anchor[0], anchor_symmetry_axis, anchor_second_axis - )[None, :, None] - - else: - # For now, we need to hack in the symmetry features. We'll almost certainly - # want to do this differently in the future. - action_symmetry_features = np.ones( - (1, points_action.shape[0], 1), dtype=np.float32 - ) - anchor_symmetry_features = np.ones( - (1, points_anchor.shape[0], 1), dtype=np.float32 - ) - - # Colors. - action_symmetry_rgb = colorize_symmetry_labels( - action_symmetry_features[0, ..., 0] - )[None] - anchor_symmetry_rgb = colorize_symmetry_labels( - anchor_symmetry_features[0, ..., 0] - )[None] - - # Assert shapes - assert len(points_action.shape) == 3 - assert len(points_anchor.shape) == 3 - assert len(action_symmetry_features.shape) == 3 - assert len(anchor_symmetry_features.shape) == 3 - assert len(action_symmetry_rgb.shape) == 3 - assert len(anchor_symmetry_rgb.shape) == 3 - - return { - "points_action": points_action, - "points_anchor": points_anchor, - "action_symmetry_features": action_symmetry_features, - "anchor_symmetry_features": anchor_symmetry_features, - "action_symmetry_rgb": action_symmetry_rgb, - "anchor_symmetry_rgb": anchor_symmetry_rgb, - "phase": data["phase"], - "phase_onehot": torch.as_tensor(data["phase_onehot"]), - } diff --git a/taxpose/models/reasoning.py b/taxpose/models/reasoning.py deleted file mode 100644 index e69de29..0000000 diff --git a/taxpose/models/taxpose_reasoning.py b/taxpose/models/taxpose_reasoning.py deleted file mode 100644 index 90f63f7..0000000 --- a/taxpose/models/taxpose_reasoning.py +++ /dev/null @@ -1,278 +0,0 @@ -from dataclasses import dataclass -from typing import Dict, Optional, Protocol, TypedDict - -import numpy as np -import torch -import torch.nn as nn - -from taxpose.datasets.enums import ObjectClass -from taxpose.datasets.ndf import OBJECT_DEMO_LABELS -from taxpose.utils.se3 import dualflow2pose, pure_translation_se3 -from taxpose.utils.symmetry_utils import ( - get_sym_label_pca_grasp, - get_sym_label_pca_place, -) - - -class PointPredictions(TypedDict): - flow_action: torch.Tensor - flow_anchor: Optional[torch.Tensor] - - -class PointPredictor(Protocol): - def forward( - self, - points_action: torch.Tensor, - points_anchor: torch.Tensor, - features_action: Optional[torch.Tensor] = None, # Symmetry features - features_anchor: Optional[torch.Tensor] = None, # Symmetry features - ) -> PointPredictions: - ... - - -@dataclass -class SymmetryConfig: - """Information about the symmetry of the object.""" - - action_class: int - anchor_class: int - object_type: ObjectClass - normalize_dist: bool - action: str - - -@dataclass -class TAXPoseReasoningConfig: - loop: int = 1 - weight_normalize: bool = True - softmax_temperature: float = 1.0 - - -class TAXPoseReasoning(nn.Module): - def __init__( - self, point_pred_module: PointPredictor, cfg: TAXPoseReasoningConfig - ) -> None: - super().__init__() - - self.model = point_pred_module - - self.loop = cfg.loop - self.weight_normalize = cfg.weight_normalize - self.softmax_temperature = cfg.softmax_temperature - - # Symmetry information. - # self.object_type = cfg.symmetry_cfg.object_type - # self.action_class = cfg.symmetry_cfg.action_class - # self.anchor_class = cfg.symmetry_cfg.anchor_class - # self.normalize_dist = cfg.symmetry_cfg.normalize_dist - # self.action = cfg.symmetry_cfg.action - - def forward( - self, - points_action, - points_anchor, - features_trans_action=None, - features_trans_anchor=None, - ) -> Dict: - return self.get_transform( - points_action, - points_anchor, - features_trans_action, - features_trans_anchor, - ) - - def action_centered(self, points_action, points_anchor): - """ - @param points_action, (1,num_points,3) - @param points_anchor, (1,num_points,3) - """ - points_action_mean = points_action.clone().mean(axis=1) - points_action_mean_centered = points_action - points_action_mean - points_anchor_mean_centered = points_anchor - points_action_mean - - return ( - points_action_mean_centered, - points_anchor_mean_centered, - points_action_mean, - ) - - def get_transform( - self, - points_trans_action, - points_trans_anchor, - features_trans_action=None, - features_trans_anchor=None, - ): - for i in range(self.loop): - # symm_feats = self.get_symmetry_labels( - # points_trans_action.cpu().numpy(), points_trans_anchor.cpu().numpy() - # ) - # action_symm = torch.as_tensor(symm_feats["action_symmetry_features"]).to( - # points_trans_action.device - # ) - # anchor_symm = torch.as_tensor(symm_feats["anchor_symmetry_features"]).to( - # points_trans_anchor.device - # ) - # breakpoint() - - model_output = self.model( - points_trans_action, - points_trans_anchor, - features_trans_action, - features_trans_anchor, - ) - x_action = model_output["flow_action"] - x_anchor = model_output["flow_anchor"] - - points_trans_action = points_trans_action[:, :, :3] - points_trans_anchor = points_trans_anchor[:, :, :3] - - # If we've applied some sampling, we need to extract the predictions too... - if "sampled_ixs_action" in model_output: - ixs_action = model_output["sampled_ixs_action"].unsqueeze(-1) - # points_action = torch.take_along_dim(points_action, ixs_action, dim=1) - points_trans_action = torch.take_along_dim( - points_trans_action, ixs_action, dim=1 - ) - - if "sampled_ixs_anchor" in model_output: - ixs_anchor = model_output["sampled_ixs_anchor"].unsqueeze(-1) - # points_anchor = torch.take_along_dim(points_anchor, ixs_anchor, dim=1) - points_trans_anchor = torch.take_along_dim( - points_trans_anchor, ixs_anchor, dim=1 - ) - - ans_dict = self.predict( - x_action=x_action, - x_anchor=x_anchor, - points_trans_action=points_trans_action, - points_trans_anchor=points_trans_anchor, - ) - if i == 0: - pred_T_action = ans_dict["pred_T_action"] - - if self.loop == 1: - return ans_dict - else: - raise ValueError("this should not happen") - pred_T_action = pred_T_action.compose( - T_trans.inverse() - .compose(ans_dict["pred_T_action"]) - .compose(T_trans) - ) - ans_dict["pred_T_action"] = pred_T_action - raise ValueError("this should not happen") - pred_points_action = ans_dict["pred_points_action"] - ( - points_trans_action, - points_trans_anchor, - points_action_mean, - ) = self.action_centered(pred_points_action, points_trans_anchor) - T_trans = pure_translation_se3( - 1, points_action_mean.squeeze(), device=points_trans_action.device - ) - - return ans_dict - - def get_symmetry_labels( - self, points_action, points_anchor, skip_symmetry=False - ) -> Dict[str, Optional[np.ndarray]]: - # If there's no symmetry, we don't need to do anything. - # if self.symmetry_cfg is None: - # return {"action_symmetry_features": None, "anchor_symmetry_features": None} - - if ( - self.object_type in {ObjectClass.BOTTLE, ObjectClass.BOWL} - and not skip_symmetry - ): - if self.action == "grasp": - sym_dict = get_sym_label_pca_grasp( - action_cloud=torch.as_tensor(points_action), - anchor_cloud=torch.as_tensor(points_anchor), - action_class=self.action_class, - anchor_class=self.anchor_class, - object_type=self.object_type, - normalize_dist=self.normalize_dist, - ) - - elif self.action == "place": - sym_dict = get_sym_label_pca_place( - action_cloud=torch.as_tensor(points_action), - anchor_cloud=torch.as_tensor(points_anchor), - action_class=self.action_class, - anchor_class=self.anchor_class, - normalize_dist=self.normalize_dist, - ) - - symmetric_cls = sym_dict["cts_cls"] # 1, num_points - symmetric_cls = symmetric_cls.unsqueeze(-1).numpy() # 1, 1, num_points - - # We want to color the gripper somehow... - if self.action_class == OBJECT_DEMO_LABELS[ObjectClass.GRIPPER]: - nonsymmetric_cls = sym_dict["cts_cls_nonsym"] # 1, num_points - # 1, 1, num_points - nonsymmetric_cls = nonsymmetric_cls.unsqueeze(-1).numpy() - else: - nonsymmetric_cls = None - - symmetry_xyzrgb = sym_dict["fig"] - if self.action_class == 0: - if nonsymmetric_cls is None: - nonsymmetric_cls = np.ones( - (1, points_anchor.shape[1], 1), dtype=np.float32 - ) - action_symmetry_features = symmetric_cls - anchor_symmetry_features = nonsymmetric_cls - elif self.anchor_class == 0: - if nonsymmetric_cls is None: - nonsymmetric_cls = np.ones( - (1, points_action.shape[1], 1), dtype=np.float32 - ) - action_symmetry_features = nonsymmetric_cls - anchor_symmetry_features = symmetric_cls - else: - raise ValueError("this should not happen") - else: - action_symmetry_features = np.ones( - (1, points_action.shape[1], 1), dtype=np.float32 - ) - anchor_symmetry_features = np.ones( - (1, points_anchor.shape[1], 1), dtype=np.float32 - ) - return { - "action_symmetry_features": action_symmetry_features, - "anchor_symmetry_features": anchor_symmetry_features, - } - - def extract_flow_and_weight(self, x): - # x: Batch, num_points, 4 - pred_flow = x[:, :, :3] - if x.shape[2] > 3: - pred_w = torch.sigmoid(x[:, :, 3]) - else: - pred_w = None - return pred_flow, pred_w - - def predict(self, x_action, x_anchor, points_trans_action, points_trans_anchor): - pred_flow_action, pred_w_action = self.extract_flow_and_weight(x_action) - pred_flow_anchor, pred_w_anchor = self.extract_flow_and_weight(x_anchor) - - # There could be more options for what to choose... - - pred_T_action = dualflow2pose( - xyz_src=points_trans_action, - xyz_tgt=points_trans_anchor, - flow_src=pred_flow_action, - flow_tgt=pred_flow_anchor, - weights_src=pred_w_action, - weights_tgt=pred_w_anchor, - return_transform3d=True, - normalization_scehme=self.weight_normalize, - temperature=self.softmax_temperature, - ) - pred_points_action = pred_T_action.transform_points(points_trans_action) - - return { - "pred_T_action": pred_T_action, - "pred_points_action": pred_points_action, - } diff --git a/taxpose/training/taxpose_inference.py b/taxpose/training/taxpose_inference.py deleted file mode 100644 index 588d3b6..0000000 --- a/taxpose/training/taxpose_inference.py +++ /dev/null @@ -1,76 +0,0 @@ -from typing import Any, Dict, Optional - -import numpy as np -import pytorch_lightning as pl -import torch - -from taxpose.datasets.ndf import compute_demo_symmetry_features -from taxpose.models.taxpose_reasoning import SymmetryConfig, TAXPoseReasoning - - -class TAXPoseInferenceModule(pl.LightningModule): - def __init__( - self, - reasoning_module: TAXPoseReasoning, - symmetry_cfg: Optional[SymmetryConfig] = None, - ) -> None: - super().__init__() - - self.model = reasoning_module - - self.symmetry_cfg = symmetry_cfg - - def forward( - self, - points_action: torch.Tensor, - points_anchor: torch.Tensor, - features_action: Optional[torch.Tensor] = None, - features_anchor: Optional[torch.Tensor] = None, - ) -> Dict: - if self.symmetry_cfg and (features_action is None or features_anchor is None): - raise ValueError("NEVER compute symmetry features before downsampling...") - points_action_np = points_action.cpu().numpy() - points_anchor_np = points_anchor.cpu().numpy() - - # Iterate - features_action_list = [] - features_anchor_list = [] - for i in range(points_action_np.shape[0]): - # TODO: Incorporate color somehow... - ( - features_action, - features_anchor, - action_symmetry_rgb, - anchor_symmetry_rgb, - ) = compute_demo_symmetry_features( - points_action_np[i : i + 1], - points_anchor_np[i : i + 1], - self.symmetry_cfg.object_type, - self.symmetry_cfg.action, - self.symmetry_cfg.action_class, - self.symmetry_cfg.anchor_class, - self.symmetry_cfg.normalize_dist, - ) - features_action_list.append(features_action) - features_anchor_list.append(features_anchor) - - features_action = np.concatenate(features_action_list, axis=0) - features_anchor = np.concatenate(features_anchor_list, axis=0) - - features_action = torch.from_numpy(features_action).to(points_action.device) - features_anchor = torch.from_numpy(features_anchor).to(points_anchor.device) - - return self.model( - points_action, - points_anchor, - features_action, - features_anchor, - ) - - def predict_step(self, batch: Any, batch_idx: int, dataloader_idx: int = 0) -> Any: - points_action = batch["points_action"] - points_anchor = batch["points_anchor"] - features_action = batch["features_action"] - features_anchor = batch["features_anchor"] - - return self(points_action, points_anchor, features_action, features_anchor) diff --git a/taxpose/utils/compile_result.py b/taxpose/utils/compile_result.py deleted file mode 100644 index 5e659ef..0000000 --- a/taxpose/utils/compile_result.py +++ /dev/null @@ -1,39 +0,0 @@ -import numpy as np -import pandas as pd - - -def get_result_df(result_path: str, seed: str): - res = np.load(result_path) - # Set the index of the dataframe to be the seed - - succ = np.logical_and(res["grasp_success_list"], res["place_success_teleport_list"]) - mp_succ = np.logical_and(res["grasp_success_list"], res["place_success_list"]) - - ress = { - "seed": seed, - "Grasp": res["grasp_success_list"].astype(float).mean(), - "Place": res["place_success_teleport_list"].astype(float).mean(), - "Overall": succ.astype(float).mean(), - "Overall_mp": mp_succ.astype(float).mean(), - } - - for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]: - ps_at_t = np.logical_and( - res["place_success_teleport_list"], res["penetration_list"] < thresh - ).mean(axis=-1) - s_at_t = np.logical_and(succ, res["penetration_list"] < thresh).mean(axis=-1) - - ress[f"Place@{thresh}"] = ps_at_t.mean() - ress[f"Overall@{thresh}"] = s_at_t.mean() - - results = pd.DataFrame( - ress, - columns=["seed", "Grasp", "Place", "Overall", "Overall_mp"] - + [f"Place@{thresh}" for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]] - + [f"Overall@{thresh}" for thresh in [0.0, 0.01, 0.02, 0.03, 0.04, 0.05]], - index=[0], - ) - # set the seed column as the index - results.set_index("seed", inplace=True) - - return results diff --git a/taxpose/utils/multilateration.py b/taxpose/utils/multilateration.py deleted file mode 100644 index cd4adc2..0000000 --- a/taxpose/utils/multilateration.py +++ /dev/null @@ -1,40 +0,0 @@ -import typing -from typing import Optional - -import torch - - -@typing.no_type_check -def estimate_p( - P: torch.FloatTensor, R: torch.FloatTensor, W: Optional[torch.FloatTensor] = None -) -> torch.FloatStorage: - assert P.ndim == 3 # N x D x 1 - assert R.ndim == 1 # N - assert P.shape[0] == R.shape[0] - assert P.shape[1] in {2, 3} - - N, D, _ = P.shape - - if W is None: - W = torch.ones(N, device=P.device) - assert W.ndim == 1 # N - W = W[:, None, None] - - # Shared stuff. - Pt = P.permute(0, 2, 1) - PPt = P @ Pt - PtP = (Pt @ P).squeeze() - I = torch.eye(D, device=P.device) - NI = I[None].repeat(N, 1, 1) - PtP_minus_r2 = (PtP - R**2)[:, None, None] - - # These are ripped straight from the paper, with weighting passed through. - a = (W * (PtP_minus_r2 * P)).mean(dim=0) - B = (W * (-2 * PPt - PtP_minus_r2 * NI)).mean(dim=0) - c = (W * P).mean(dim=0) - f = a + B @ c + 2 * c @ c.T @ c - H = -2 * PPt.mean(dim=0) + 2 * c @ c.T - q = -torch.linalg.inv(H) @ f - p = q + c - - return p diff --git a/taxpose/utils/website.py b/taxpose/utils/website.py deleted file mode 100644 index da19db7..0000000 --- a/taxpose/utils/website.py +++ /dev/null @@ -1,84 +0,0 @@ -import jinja2 - -# This is a template which will accept a dictionary with the following: -# - title: The title of the page. -# - phase_plots: A list of plotly plots (as divs) to display. -# - video: An optional video to display. -PHASE_TEMPLATE = """ - - - - {{ title }} - - - - -

{{ title }}

-

Phase Plots

-
- {% for plot in phase_plots %} -
- {{ plot }} -
- {% endfor %} -
- {% if video %} -

Video

-
- -
- {% endif %} - - -""" - -### This is a template which will accept a dictionary with the following: -# - title: The title of the page. -# - episode_nums: A list of episode numbers to display, with links to the corresponding pages. -EXPERIMENT_TEMPLATE = """ - - - - {{ title }} - - -

{{ title }}

-

Episodes

- - - -""" - - -def render_episode_page(title, phase_plots, video=None): - """ - Renders a page with the given title, phase plots, and optional video. - """ - template = jinja2.Template(PHASE_TEMPLATE) - return template.render(title=title, phase_plots=phase_plots, video=video) - - -def render_experiment_page(title, episode_nums): - """ - Renders a page with the given title and episode numbers. - """ - template = jinja2.Template(EXPERIMENT_TEMPLATE) - return template.render(title=title, episode_nums=episode_nums) diff --git a/tests/config_test.py b/tests/config_test.py index cb5ffda..e268d1e 100644 --- a/tests/config_test.py +++ b/tests/config_test.py @@ -26,32 +26,6 @@ def _get_config_names(bmark): return configs -HYDRA_CONFIG = {} - - -@pytest.mark.parametrize("config_name", _get_config_names("rlbench")) -def test_rlbench_commands_compile(config_name): - with initialize(version_base=None, config_path="../configs"): - cfg = compose( - config_name=config_name, - overrides=[ - "hydra.verbose=true", - "hydra.job.num=1", - "hydra.runtime.output_dir=.", - "seed=1234", - ], - return_hydra_config=True, - ) - # Resolve the config - HydraConfig.instance().set_config(cfg) - - # Resolve to yaml. - yaml_cfg = OmegaConf.to_yaml(cfg, resolve=True) - - assert cfg.job_type is not None - assert cfg.wandb.save_dir is not None - - @pytest.mark.parametrize("config_name", _get_config_names("ndf")) def test_ndf_commands_compile(config_name): with initialize(version_base=None, config_path="../configs"): diff --git a/unconvert_demos_to_mp4.sh b/unconvert_demos_to_mp4.sh deleted file mode 100644 index f5339c0..0000000 --- a/unconvert_demos_to_mp4.sh +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/bash - -# Check if correct number of arguments provided -if [ "$#" -ne 2 ]; then - echo "Usage: $0 " - exit 1 -fi - -input_dir=$1 -new_output_dir=$2 - -# Use rsync to copy the input directory to the new output directory -rsync -av --progress "$input_dir/" "$new_output_dir" - -# Function to recursively process MP4 files and convert them to PNG sequences -process_mp4_files() { - for file in "$1"/*; do - if [ -d "$file" ]; then - # Recursively process subdirectories - process_mp4_files "$file" - elif [ -f "$file" ] && [[ "$file" == *.mp4 ]]; then - # Get the base name without extension - base_name=$(basename "$file" .mp4) - # Create a directory for PNG files - mkdir "$1/$base_name" - # Extract frames to PNG - ffmpeg -i "$file" -vsync 0 "$1/$base_name/%d.png" - # Remove the MP4 file - rm "$file" - fi - done -} - -# Process each MP4 file in the new output directory -process_mp4_files "$new_output_dir"