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Browse files- .gitattributes +6 -0
- vp2_benchmark_data/pretrained_models/fitvid/rdall_base/config.json +1 -0
- vp2_benchmark_data/pretrained_models/fitvid/rdall_base/model_epoch33 +3 -0
- vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_1/config.json +1 -0
- vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_1/model_epoch33 +3 -0
- vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_10/config.json +1 -0
- vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_10/model_epoch33 +3 -0
- vp2_benchmark_data/pretrained_models/fitvid/rs5k_base/config.json +1 -0
- vp2_benchmark_data/pretrained_models/fitvid/rs5k_base/model_epoch33 +3 -0
- vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_1/config.json +1 -0
- vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_1/model_epoch33 +3 -0
- vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_10/config.json +1 -0
- vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_10/model_epoch33 +3 -0
- vp2_benchmark_data/pretrained_models/mcvd/rdall_base/checkpoint_330000.pt +3 -0
- vp2_benchmark_data/pretrained_models/mcvd/rdall_base/config.yml +130 -0
- vp2_benchmark_data/pretrained_models/mcvd/rs5k_base/checkpoint_360000.pt +3 -0
- vp2_benchmark_data/pretrained_models/mcvd/rs5k_base/config.yml +116 -0
- vp2_benchmark_data/pretrained_models/struct-vrnn/rdall_base/checkpoint-210000.pt +3 -0
- vp2_benchmark_data/pretrained_models/struct-vrnn/rdall_base/config.yaml +87 -0
- vp2_benchmark_data/pretrained_models/struct-vrnn/rs5k_base/checkpoint-210000.pt +3 -0
- vp2_benchmark_data/pretrained_models/struct-vrnn/rs5k_base/config.yaml +77 -0
- vp2_benchmark_data/pretrained_models/svg_prime/rdall_base/model_33_sd.pth +3 -0
- vp2_benchmark_data/pretrained_models/svg_prime/rdall_lpips_1/model_33_sd.pth +3 -0
- vp2_benchmark_data/pretrained_models/svg_prime/rdall_lpips_10/model_33_sd.pth +3 -0
- vp2_benchmark_data/pretrained_models/svg_prime/rs5k_base/model_33_sd.pth +3 -0
- vp2_benchmark_data/pretrained_models/svg_prime/rs5k_lpips_1/model_33_sd.pth +3 -0
- vp2_benchmark_data/pretrained_models/svg_prime/rs5k_lpips_10/model_33_sd.pth +3 -0
.gitattributes
CHANGED
@@ -66,3 +66,9 @@ vp2_benchmark_data/robodesk_benchmark_tasks/robodesk_push_red/goals.hdf5 filter=
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vp2_benchmark_data/robodesk_benchmark_tasks/robodesk_upright_block_off_table/goals.hdf5 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/robosuite_benchmark_tasks/combined/demo.hdf5 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/robosuite_benchmark_tasks/combined/rendered_256.hdf5 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/robodesk_benchmark_tasks/robodesk_upright_block_off_table/goals.hdf5 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/robosuite_benchmark_tasks/combined/demo.hdf5 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/robosuite_benchmark_tasks/combined/rendered_256.hdf5 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/pretrained_models/fitvid/rdall_base/model_epoch33 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_1/model_epoch33 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_10/model_epoch33 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_base/model_epoch33 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_1/model_epoch33 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_10/model_epoch33 filter=lfs diff=lfs merge=lfs -text
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vp2_benchmark_data/pretrained_models/fitvid/rdall_base/config.json
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{"model_kwargs": {"stage_sizes": [2, 2, 2, 2], "z_dim": 10, "g_dim": 128, "rnn_size": 256, "num_base_filters": 64, "first_block_shape": [8, 8, 512], "skip_type": "residual", "n_past": 2, "action_conditioned": true, "action_size": 5, "expand_decoder": 4, "stochastic": true, "video_channels": 3, "lecun_initialization": false}, "beta": 0.0001, "multistep": false, "is_inference": false, "depth_predictor": null, "normal_predictor": null, "policy_networks": null, "loss_weights": {"kld": 0.0001, "rgb": 1.0, "depth": 0.0, "normal": 0.0, "policy": 0.0, "lpips": 0.0, "tv": 0.0, "segmented_object": 0.0}, "rgb_loss_type": "l2", "corr_wise": false}
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vp2_benchmark_data/pretrained_models/fitvid/rdall_base/model_epoch33
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vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_1/config.json
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{"model_kwargs": {"stage_sizes": [2, 2, 2, 2], "z_dim": 10, "g_dim": 128, "rnn_size": 256, "num_base_filters": 64, "first_block_shape": [8, 8, 512], "skip_type": "residual", "n_past": 2, "action_conditioned": true, "action_size": 5, "expand_decoder": 4, "stochastic": true, "video_channels": 3, "lecun_initialization": false}, "beta": 0.0001, "multistep": false, "is_inference": false, "depth_predictor": null, "normal_predictor": null, "policy_networks": null, "loss_weights": {"kld": 0.0001, "rgb": 1.0, "depth": 0.0, "normal": 0.0, "policy": 0.0, "lpips": 1.0, "tv": 0.0, "segmented_object": 0.0}, "rgb_loss_type": "l2", "corr_wise": false}
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vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_1/model_epoch33
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vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_10/config.json
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{"model_kwargs": {"stage_sizes": [2, 2, 2, 2], "z_dim": 10, "g_dim": 128, "rnn_size": 256, "num_base_filters": 64, "first_block_shape": [8, 8, 512], "skip_type": "residual", "n_past": 2, "action_conditioned": true, "action_size": 5, "expand_decoder": 4, "stochastic": true, "video_channels": 3, "lecun_initialization": false}, "beta": 0.0001, "multistep": false, "is_inference": false, "depth_predictor": null, "normal_predictor": null, "policy_networks": null, "loss_weights": {"kld": 0.0001, "rgb": 1.0, "depth": 0.0, "normal": 0.0, "policy": 0.0, "lpips": 10.0, "tv": 0.0, "segmented_object": 0.0}, "rgb_loss_type": "l2", "corr_wise": false}
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vp2_benchmark_data/pretrained_models/fitvid/rdall_lpips_10/model_epoch33
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_base/config.json
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{"model_kwargs": {"stage_sizes": [2, 2, 2, 2], "z_dim": 10, "g_dim": 128, "rnn_size": 256, "num_base_filters": 64, "first_block_shape": [8, 8, 512], "skip_type": "residual", "n_past": 2, "action_conditioned": true, "action_size": 4, "expand_decoder": 4, "stochastic": true, "video_channels": 3, "lecun_initialization": false}, "beta": 0.0001, "multistep": false, "is_inference": false, "depth_predictor": null, "normal_predictor": null, "policy_networks": null, "loss_weights": {"kld": 0.0001, "rgb": 1.0, "depth": 0.0, "normal": 0.0, "policy": 0.0, "lpips": 0.0, "tv": 0.0, "segmented_object": 0.0}, "rgb_loss_type": "l2", "corr_wise": false}
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_base/model_epoch33
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_1/config.json
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{"model_kwargs": {"stage_sizes": [2, 2, 2, 2], "z_dim": 10, "g_dim": 128, "rnn_size": 256, "num_base_filters": 64, "first_block_shape": [8, 8, 512], "skip_type": "residual", "n_past": 2, "action_conditioned": true, "action_size": 4, "expand_decoder": 4, "stochastic": true, "video_channels": 3, "lecun_initialization": false}, "beta": 0.0001, "multistep": false, "is_inference": false, "depth_predictor": null, "normal_predictor": null, "policy_networks": null, "loss_weights": {"kld": 0.0001, "rgb": 1.0, "depth": 0.0, "normal": 0.0, "policy": 0.0, "lpips": 1.0, "tv": 0.0, "segmented_object": 0.0}, "rgb_loss_type": "l2", "corr_wise": false}
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_1/model_epoch33
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_10/config.json
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{"model_kwargs": {"stage_sizes": [2, 2, 2, 2], "z_dim": 10, "g_dim": 128, "rnn_size": 256, "num_base_filters": 64, "first_block_shape": [8, 8, 512], "skip_type": "residual", "n_past": 2, "action_conditioned": true, "action_size": 4, "expand_decoder": 4, "stochastic": true, "video_channels": 3, "lecun_initialization": false}, "beta": 0.0001, "multistep": false, "is_inference": false, "depth_predictor": null, "normal_predictor": null, "policy_networks": null, "loss_weights": {"kld": 0.0001, "rgb": 1.0, "depth": 0.0, "normal": 0.0, "policy": 0.0, "lpips": 10.0, "tv": 0.0, "segmented_object": 0.0}, "rgb_loss_type": "l2", "corr_wise": false}
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vp2_benchmark_data/pretrained_models/fitvid/rs5k_lpips_10/model_epoch33
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vp2_benchmark_data/pretrained_models/mcvd/rdall_base/checkpoint_330000.pt
ADDED
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version https://git-lfs.github.com/spec/v1
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size 897015077
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vp2_benchmark_data/pretrained_models/mcvd/rdall_base/config.yml
ADDED
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data:
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action_dimension: 5
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cache_mode: low_dim
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camera_view: camera
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channels: 3
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dataset: perceptual_metrics
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dataset_files:
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- /svl/u/stian/robodesk_open_drawer/noise_0.1_256.hdf5
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- /svl/u/stian/robodesk_open_drawer/noise_0.2_256.hdf5
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- /svl/u/stian/robodesk_open_slide/noise_0.1_256.hdf5
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- /svl/u/stian/robodesk_open_slide/noise_0.2_256.hdf5
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- /svl/u/stian/robodesk_open_slide/noise_0.5_256.hdf5
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- /svl/u/stian/robodesk_push_blue/noise_0.1_256.hdf5
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- /svl/u/stian/robodesk_push_blue/noise_0.2_256.hdf5
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- /svl/u/stian/robodesk_push_green/noise_0.1_256.hdf5
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- /svl/u/stian/robodesk_push_green/noise_0.2_256.hdf5
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- /svl/u/stian/robodesk_push_red/noise_0.1_256.hdf5
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- /svl/u/stian/robodesk_push_red/noise_0.2_256.hdf5
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- /svl/u/stian/robodesk_flat_block_off_table/noise_0.1_256.hdf5
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- /svl/u/stian/robodesk_flat_block_off_table/noise_0.2_256.hdf5
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- /svl/u/stian/robodesk_upright_block_off_table/noise_0.1_256.hdf5
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- /svl/u/stian/robodesk_upright_block_off_table/noise_0.2_256.hdf5
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gaussian_dequantization: false
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image_size: 64
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logit_transform: false
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num_frames: 5
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num_frames_cond: 2
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num_frames_future: 0
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num_workers: 0
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prob_mask_cond: 0.0
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prob_mask_future: 0.0
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prob_mask_sync: false
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random_flip: true
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rescaled: true
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uniform_dequantization: false
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fast_fid:
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batch_size: 1000
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begin_ckpt: 5000
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end_ckpt: 300000
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ensemble: false
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freq: 5000
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n_steps_each: 0
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num_samples: 1000
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pr_nn_k: 3
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step_lr: 0.0
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verbose: false
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model:
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arch: unetmore
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attn_resolutions:
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- 8
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- 16
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- 32
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ch_mult:
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- 1
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- 2
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- 3
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- 4
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cond_emb: false
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conditional: true
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depth: deep
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dropout: 0.1
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ema: true
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ema_rate: 0.999
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gamma: false
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n_head_channels: 64
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ngf: 64
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noise_in_cond: false
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nonlinearity: swish
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normalization: InstanceNorm++
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num_classes: 1000
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num_res_blocks: 2
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output_all_frames: false
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sigma_begin: 0.02
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sigma_dist: linear
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sigma_end: 0.0001
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spade: true
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spade_dim: 128
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spec_norm: false
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time_conditional: true
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type: v1
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version: DDPM
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optim:
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amsgrad: false
|
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beta1: 0.9
|
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eps: 1.0e-08
|
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grad_clip: 1.0
|
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lr: 0.0002
|
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optimizer: Adam
|
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warmup: 1000
|
90 |
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weight_decay: 0.0
|
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sampling:
|
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batch_size: 64
|
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ckpt_id: 0
|
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clip_before: true
|
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consistent: true
|
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data_init: false
|
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denoise: true
|
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fid: false
|
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final_only: true
|
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fvd: true
|
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init_prev_t: -1.0
|
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+
inpainting: false
|
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+
interpolation: false
|
104 |
+
max_data_iter: 100000
|
105 |
+
n_interpolations: 15
|
106 |
+
n_steps_each: 0
|
107 |
+
num_frames_pred: 10
|
108 |
+
num_samples4fid: 10000
|
109 |
+
num_samples4fvd: 10000
|
110 |
+
one_frame_at_a_time: false
|
111 |
+
preds_per_test: 1
|
112 |
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ssim: true
|
113 |
+
step_lr: 0.0
|
114 |
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subsample: 100
|
115 |
+
train: true
|
116 |
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test:
|
117 |
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batch_size: 100
|
118 |
+
begin_ckpt: 5000
|
119 |
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end_ckpt: 300000
|
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training:
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L1: false
|
122 |
+
batch_size: 16
|
123 |
+
log_all_sigmas: false
|
124 |
+
log_freq: 50
|
125 |
+
n_epochs: 1000000
|
126 |
+
n_iters: 3000001
|
127 |
+
sample_freq: 15000
|
128 |
+
snapshot_freq: 10
|
129 |
+
snapshot_sampling: true
|
130 |
+
val_freq: 100
|
vp2_benchmark_data/pretrained_models/mcvd/rs5k_base/checkpoint_360000.pt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:d871847d01e2fe3cbb9a8da20d93934c7275b253ee8a2ce0d74a767a5293e192
|
3 |
+
size 890711333
|
vp2_benchmark_data/pretrained_models/mcvd/rs5k_base/config.yml
ADDED
@@ -0,0 +1,116 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
data:
|
2 |
+
action_dimension: 4
|
3 |
+
cache_mode: all_nogetitem
|
4 |
+
camera_view: agentview_shift_2
|
5 |
+
channels: 3
|
6 |
+
dataset: perceptual_metrics
|
7 |
+
dataset_files:
|
8 |
+
- /svl/u/stian/robosuite_50k_1/5k_slice_rendered_256.hdf5
|
9 |
+
gaussian_dequantization: false
|
10 |
+
image_size: 64
|
11 |
+
logit_transform: false
|
12 |
+
num_frames: 5
|
13 |
+
num_frames_cond: 2
|
14 |
+
num_frames_future: 0
|
15 |
+
num_workers: 0
|
16 |
+
prob_mask_cond: 0.0
|
17 |
+
prob_mask_future: 0.0
|
18 |
+
prob_mask_sync: false
|
19 |
+
random_flip: true
|
20 |
+
rescaled: true
|
21 |
+
uniform_dequantization: false
|
22 |
+
fast_fid:
|
23 |
+
batch_size: 1000
|
24 |
+
begin_ckpt: 5000
|
25 |
+
end_ckpt: 300000
|
26 |
+
ensemble: false
|
27 |
+
freq: 5000
|
28 |
+
n_steps_each: 0
|
29 |
+
num_samples: 1000
|
30 |
+
pr_nn_k: 3
|
31 |
+
step_lr: 0.0
|
32 |
+
verbose: false
|
33 |
+
model:
|
34 |
+
arch: unetmore
|
35 |
+
attn_resolutions:
|
36 |
+
- 8
|
37 |
+
- 16
|
38 |
+
- 32
|
39 |
+
ch_mult:
|
40 |
+
- 1
|
41 |
+
- 2
|
42 |
+
- 3
|
43 |
+
- 4
|
44 |
+
cond_emb: false
|
45 |
+
conditional: true
|
46 |
+
depth: deep
|
47 |
+
dropout: 0.1
|
48 |
+
ema: true
|
49 |
+
ema_rate: 0.999
|
50 |
+
gamma: false
|
51 |
+
n_head_channels: 64
|
52 |
+
ngf: 64
|
53 |
+
noise_in_cond: false
|
54 |
+
nonlinearity: swish
|
55 |
+
normalization: InstanceNorm++
|
56 |
+
num_classes: 1000
|
57 |
+
num_res_blocks: 2
|
58 |
+
output_all_frames: false
|
59 |
+
sigma_begin: 0.02
|
60 |
+
sigma_dist: linear
|
61 |
+
sigma_end: 0.0001
|
62 |
+
spade: true
|
63 |
+
spade_dim: 128
|
64 |
+
spec_norm: false
|
65 |
+
time_conditional: true
|
66 |
+
type: v1
|
67 |
+
version: DDPM
|
68 |
+
optim:
|
69 |
+
amsgrad: false
|
70 |
+
beta1: 0.9
|
71 |
+
eps: 1.0e-08
|
72 |
+
grad_clip: 1.0
|
73 |
+
lr: 0.0002
|
74 |
+
optimizer: Adam
|
75 |
+
warmup: 1000
|
76 |
+
weight_decay: 0.0
|
77 |
+
sampling:
|
78 |
+
batch_size: 64
|
79 |
+
ckpt_id: 0
|
80 |
+
clip_before: true
|
81 |
+
consistent: true
|
82 |
+
data_init: false
|
83 |
+
denoise: true
|
84 |
+
fid: false
|
85 |
+
final_only: true
|
86 |
+
fvd: true
|
87 |
+
init_prev_t: -1.0
|
88 |
+
inpainting: false
|
89 |
+
interpolation: false
|
90 |
+
max_data_iter: 100000
|
91 |
+
n_interpolations: 15
|
92 |
+
n_steps_each: 0
|
93 |
+
num_frames_pred: 10
|
94 |
+
num_samples4fid: 10000
|
95 |
+
num_samples4fvd: 10000
|
96 |
+
one_frame_at_a_time: false
|
97 |
+
preds_per_test: 1
|
98 |
+
ssim: true
|
99 |
+
step_lr: 0.0
|
100 |
+
subsample: 100
|
101 |
+
train: true
|
102 |
+
test:
|
103 |
+
batch_size: 100
|
104 |
+
begin_ckpt: 5000
|
105 |
+
end_ckpt: 300000
|
106 |
+
training:
|
107 |
+
L1: false
|
108 |
+
batch_size: 64
|
109 |
+
log_all_sigmas: false
|
110 |
+
log_freq: 50
|
111 |
+
n_epochs: 1000000
|
112 |
+
n_iters: 3000001
|
113 |
+
sample_freq: 15000
|
114 |
+
snapshot_freq: 15000
|
115 |
+
snapshot_sampling: true
|
116 |
+
val_freq: 100
|
vp2_benchmark_data/pretrained_models/struct-vrnn/rdall_base/checkpoint-210000.pt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:bf50cce15f89a824fde33e0612487eede0783fb2ea23edc04d896b917ba08ad5
|
3 |
+
size 204401183
|
vp2_benchmark_data/pretrained_models/struct-vrnn/rdall_base/config.yaml
ADDED
@@ -0,0 +1,87 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
dataset:
|
2 |
+
num_steps: 12
|
3 |
+
camera_name: camera
|
4 |
+
cache_mode: low_dim
|
5 |
+
dataset_files:
|
6 |
+
- /svl/u/stian/robodesk_open_drawer/noise_0.1_256.hdf5
|
7 |
+
- /svl/u/stian/robodesk_open_drawer/noise_0.2_256.hdf5
|
8 |
+
- /svl/u/stian/robodesk_open_slide/noise_0.1_256.hdf5
|
9 |
+
- /svl/u/stian/robodesk_open_slide/noise_0.2_256.hdf5
|
10 |
+
- /svl/u/stian/robodesk_open_slide/noise_0.5_256.hdf5
|
11 |
+
- /svl/u/stian/robodesk_push_blue/noise_0.1_256.hdf5
|
12 |
+
- /svl/u/stian/robodesk_push_blue/noise_0.2_256.hdf5
|
13 |
+
- /svl/u/stian/robodesk_push_green/noise_0.1_256.hdf5
|
14 |
+
- /svl/u/stian/robodesk_push_green/noise_0.2_256.hdf5
|
15 |
+
- /svl/u/stian/robodesk_push_red/noise_0.1_256.hdf5
|
16 |
+
- /svl/u/stian/robodesk_push_red/noise_0.2_256.hdf5
|
17 |
+
- /svl/u/stian/robodesk_flat_block_off_table/noise_0.1_256.hdf5
|
18 |
+
- /svl/u/stian/robodesk_flat_block_off_table/noise_0.2_256.hdf5
|
19 |
+
- /svl/u/stian/robodesk_upright_block_off_table/noise_0.1_256.hdf5
|
20 |
+
- /svl/u/stian/robodesk_upright_block_off_table/noise_0.2_256.hdf5
|
21 |
+
data_type: robomimic
|
22 |
+
run_name: robodesk
|
23 |
+
optimizer:
|
24 |
+
_target_: torch.optim.Adam
|
25 |
+
lr: 0.0003
|
26 |
+
batch_size: 8
|
27 |
+
train_steps: 500000
|
28 |
+
train_epoch_length: 3000
|
29 |
+
log_every: 30000
|
30 |
+
log_images_every: 2000
|
31 |
+
num_videos_to_log: 6
|
32 |
+
device: cuda
|
33 |
+
num_workers: 8
|
34 |
+
training_weights:
|
35 |
+
reconstruction_loss: 10.0
|
36 |
+
kld_loss: 0.0001
|
37 |
+
temporal_separation_loss: 0.0
|
38 |
+
coord_pred_loss: 1.0
|
39 |
+
sparsity_loss: 0
|
40 |
+
model:
|
41 |
+
_target_: struct_vrnn.model.keypoint_vrnn.StructVRNN
|
42 |
+
temporal_separation_loss_sigma: 0.02
|
43 |
+
keypoint_detector:
|
44 |
+
_target_: struct_vrnn.model.keypoint_detector.KeypointDetector
|
45 |
+
num_keypoints: 64
|
46 |
+
keypoint_sigma: 3.0
|
47 |
+
encoder:
|
48 |
+
_target_: struct_vrnn.model.keypoint_detector.ImageEncoder
|
49 |
+
num_input_channels: 5
|
50 |
+
input_map_size: 64
|
51 |
+
output_map_size: 16
|
52 |
+
initial_num_filters: 32
|
53 |
+
layers_per_scale: 2
|
54 |
+
appearance_encoder:
|
55 |
+
_target_: struct_vrnn.model.keypoint_detector.ImageEncoder
|
56 |
+
num_input_channels: 3
|
57 |
+
input_map_size: 64
|
58 |
+
output_map_size: 16
|
59 |
+
initial_num_filters: 32
|
60 |
+
layers_per_scale: 2
|
61 |
+
decoder:
|
62 |
+
_target_: struct_vrnn.model.keypoint_detector.ImageDecoder
|
63 |
+
num_input_channels: 258
|
64 |
+
input_map_size: 16
|
65 |
+
output_map_size: 64
|
66 |
+
initial_num_filters: 256
|
67 |
+
layers_per_scale: 3
|
68 |
+
dynamics:
|
69 |
+
_target_: struct_vrnn.model.dynamics.Dynamics
|
70 |
+
prior:
|
71 |
+
_target_: struct_vrnn.model.lstm.MultiGaussianLSTM
|
72 |
+
input_size: 192
|
73 |
+
output_size: 16
|
74 |
+
hidden_size: 512
|
75 |
+
num_layers: 2
|
76 |
+
posterior:
|
77 |
+
_target_: struct_vrnn.model.lstm.MultiGaussianLSTM
|
78 |
+
input_size: 192
|
79 |
+
output_size: 16
|
80 |
+
hidden_size: 512
|
81 |
+
num_layers: 2
|
82 |
+
dynamics:
|
83 |
+
_target_: struct_vrnn.model.lstm.MultiGaussianLSTM
|
84 |
+
input_size: 213
|
85 |
+
output_size: 192
|
86 |
+
hidden_size: 512
|
87 |
+
num_layers: 2
|
vp2_benchmark_data/pretrained_models/struct-vrnn/rs5k_base/checkpoint-210000.pt
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:05e1392aa431f9b4176c34c0264aa6a1263c25c2727fca8579a758d09ee7a4ae
|
3 |
+
size 204395039
|
vp2_benchmark_data/pretrained_models/struct-vrnn/rs5k_base/config.yaml
ADDED
@@ -0,0 +1,77 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
dataset:
|
2 |
+
num_steps: 12
|
3 |
+
camera_name: agentview_shift_2
|
4 |
+
cache_mode: low_dim
|
5 |
+
dataset_files:
|
6 |
+
- /svl/u/stian/robosuite_50k_1/rendered_256.hdf5
|
7 |
+
- /svl/u/stian/robosuite_50k_2/rendered_256.hdf5
|
8 |
+
- /svl/u/stian/robosuite_50k_3/rendered_256.hdf5
|
9 |
+
- /svl/u/stian/robosuite_50k_4/rendered_256.hdf5
|
10 |
+
- /svl/u/stian/robosuite_50k_5/rendered_256.hdf5
|
11 |
+
data_type: robomimic
|
12 |
+
run_name: robosuite
|
13 |
+
optimizer:
|
14 |
+
_target_: torch.optim.Adam
|
15 |
+
lr: 0.0003
|
16 |
+
batch_size: 8
|
17 |
+
train_steps: 500000
|
18 |
+
train_epoch_length: 3000
|
19 |
+
log_every: 30000
|
20 |
+
log_images_every: 2000
|
21 |
+
num_videos_to_log: 6
|
22 |
+
device: cuda
|
23 |
+
num_workers: 8
|
24 |
+
training_weights:
|
25 |
+
reconstruction_loss: 10.0
|
26 |
+
kld_loss: 0.0001
|
27 |
+
temporal_separation_loss: 0.0
|
28 |
+
coord_pred_loss: 1.0
|
29 |
+
sparsity_loss: 0
|
30 |
+
model:
|
31 |
+
_target_: struct_vrnn.model.keypoint_vrnn.StructVRNN
|
32 |
+
temporal_separation_loss_sigma: 0.02
|
33 |
+
keypoint_detector:
|
34 |
+
_target_: struct_vrnn.model.keypoint_detector.KeypointDetector
|
35 |
+
num_keypoints: 64
|
36 |
+
keypoint_sigma: 3.0
|
37 |
+
encoder:
|
38 |
+
_target_: struct_vrnn.model.keypoint_detector.ImageEncoder
|
39 |
+
num_input_channels: 5
|
40 |
+
input_map_size: 64
|
41 |
+
output_map_size: 16
|
42 |
+
initial_num_filters: 32
|
43 |
+
layers_per_scale: 2
|
44 |
+
appearance_encoder:
|
45 |
+
_target_: struct_vrnn.model.keypoint_detector.ImageEncoder
|
46 |
+
num_input_channels: 3
|
47 |
+
input_map_size: 64
|
48 |
+
output_map_size: 16
|
49 |
+
initial_num_filters: 32
|
50 |
+
layers_per_scale: 2
|
51 |
+
decoder:
|
52 |
+
_target_: struct_vrnn.model.keypoint_detector.ImageDecoder
|
53 |
+
num_input_channels: 258
|
54 |
+
input_map_size: 16
|
55 |
+
output_map_size: 64
|
56 |
+
initial_num_filters: 256
|
57 |
+
layers_per_scale: 3
|
58 |
+
dynamics:
|
59 |
+
_target_: struct_vrnn.model.dynamics.Dynamics
|
60 |
+
prior:
|
61 |
+
_target_: struct_vrnn.model.lstm.MultiGaussianLSTM
|
62 |
+
input_size: 192
|
63 |
+
output_size: 16
|
64 |
+
hidden_size: 512
|
65 |
+
num_layers: 2
|
66 |
+
posterior:
|
67 |
+
_target_: struct_vrnn.model.lstm.MultiGaussianLSTM
|
68 |
+
input_size: 192
|
69 |
+
output_size: 16
|
70 |
+
hidden_size: 512
|
71 |
+
num_layers: 2
|
72 |
+
dynamics:
|
73 |
+
_target_: struct_vrnn.model.lstm.MultiGaussianLSTM
|
74 |
+
input_size: 212
|
75 |
+
output_size: 192
|
76 |
+
hidden_size: 512
|
77 |
+
num_layers: 2
|
vp2_benchmark_data/pretrained_models/svg_prime/rdall_base/model_33_sd.pth
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ADDED
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vp2_benchmark_data/pretrained_models/svg_prime/rdall_lpips_10/model_33_sd.pth
ADDED
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vp2_benchmark_data/pretrained_models/svg_prime/rs5k_base/model_33_sd.pth
ADDED
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vp2_benchmark_data/pretrained_models/svg_prime/rs5k_lpips_1/model_33_sd.pth
ADDED
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vp2_benchmark_data/pretrained_models/svg_prime/rs5k_lpips_10/model_33_sd.pth
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