remove_hydra (#2)

- Upload folder using huggingface_hub (b06c88b1bf33993b7f25b2cd64dba79923eda85b)
- Upload eval_info.json with huggingface_hub (ba8a9926fc085c3785f144e2b676bc35ca053a5c)
- Delete config.yaml (81e6614b6692f4552ff46beea8dc97d1ba4e9314)
- Update README (21573fe81522899ec7144da09e14c34034c13e6d)
- Use 175k steps checkpoint (d3d143b0342488252497853815b27ce3c0384c6b)
- Cleanup, update training curves (6d8bb7de11d55b2100c12ca4b73a6a72e2754369)
- Update results (f322b4fdce74e7d3c4e0636fb1135814996eabf2)

README.md

@@ -2,6 +2,11 @@
 license: apache-2.0
 datasets:
 - lerobot/pusht
+tags:
+- diffusion-policy
+- model_hub_mixin
+- pytorch_model_hub_mixin
+- robotics
 pipeline_tag: robotics
 ---
 # Model Card for Diffusion Policy / PushT
@@ -15,31 +20,27 @@ See the [LeRobot library](https://github.com/huggingface/lerobot) (particularly
 
 ## Training Details
 
-The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/d747195c5733c4f68d4bfbe62632d6fc1b605712/lerobot/scripts/train.py) and with the [pusht](https://huggingface.co/datasets/lerobot/pusht/tree/v1.3) dataset, using this command:
+Trained with [LeRobot@3c0a209](https://github.com/huggingface/lerobot/tree/3c0a209f9fac4d2a57617e686a7f2a2309144ba2).
+
+The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/main/lerobot/scripts/train.py) and with the [pusht](https://huggingface.co/datasets/lerobot/pusht) dataset, using this command:
 
 ```bash
 python lerobot/scripts/train.py \
-  hydra.run.dir=outputs/train/diffusion_pusht \
-  hydra.job.name=diffusion_pusht \
-  policy=diffusion training.save_model=true \
-  env=pusht \
-  env.task=PushT-v0 \
-  dataset_repo_id=lerobot/pusht \
-  training.offline_steps=200000 \
-  training.save_freq=20000 \
-  training.eval_freq=10000 \
-  eval.n_episodes=50 \
-  wandb.enable=true \
-  wandb.disable_artifact=true \
-  device=cuda
+    --output_dir=outputs/train/diffusion_pusht \
+    --policy.type=diffusion \
+    --dataset.repo_id=lerobot/pusht \
+    --seed=100000 \
+    --env.type=pusht \
+    --batch_size=64 \
+    --offline.steps=200000 \
+    --eval_freq=25000 \
+    --save_freq=25000 \
+    --wandb.enable=true
 ```
 
 
-The training curves may be found at https://wandb.ai/alexander-soare/Alexander-LeRobot/runs/508luayd.
-
-This took about 7 hours to train on an Nvida RTX 3090.
-
-_Note: At the time of training, [this PR](https://github.com/huggingface/lerobot/pull/129) was also incorporated._
+The training curves may be found at https://wandb.ai/aliberts/lerobot/runs/s7elvf4r.
+The current model corresponds to the checkpoint at 175k steps.
 
 ## Evaluation
 
@@ -48,12 +49,22 @@ The model was evaluated on the `PushT` environment from [gym-pusht](https://gith
 - Maximum overlap with target (seen as `eval/avg_max_reward` in the charts above). This ranges in [0, 1].
 - Success: whether or not the maximum overlap is at least 95%.
 
-Here are the metrics for 500 episodes worth of evaluation. For the succes rate we add an extra row with confidence bounds. This assumes a uniform prior over success probability and computes the beta posterior, then calculates the mean and lower/upper confidence bounds (with a 68.2% confidence interval centered on the mean). The "Theirs" column is for an equivalent model trained on the original Diffusion Policy repository and evaluated on LeRobot (the model weights may be found in the [`original_dp_repo`](https://huggingface.co/lerobot/diffusion_pusht/tree/original_dp_repo) branch of this respository).
+Here are the metrics for 500 episodes worth of evaluation. The "Theirs" column is for an equivalent model trained on the original Diffusion Policy repository and evaluated on LeRobot (the model weights may be found in the [`original_dp_repo`](https://huggingface.co/lerobot/diffusion_pusht/tree/original_dp_repo) branch of this respository).
 
 <blank>|Ours|Theirs
 -|-|-
-Average max. overlap ratio | 0.959 | 0.957
-Success rate for 500 episodes (%) | 63.8 | 64.2
-Beta distribution lower/mean/upper (%) | 61.6 / 63.7 / 65.9 | 62.0 / 64.1 / 66.3
+Average max. overlap ratio | 0.955 | 0.957
+Success rate for 500 episodes (%) | 65.4 | 64.2
 
-The results of each of the individual rollouts may be found in [eval_info.json](eval_info.json).
+The results of each of the individual rollouts may be found in [eval_info.json](eval_info.json).
+It was produced after training with this command:
+```bash
+python lerobot/scripts/eval.py \
+    --policy.path=outputs/train/diffusion_pusht/checkpoints/175000/pretrained_model \
+    --output_dir=outputs/eval/diffusion_pusht/175000 \
+    --env.type=pusht \
+    --eval.n_episodes=500 \
+    --eval.batch_size=50 \
+    --device=cuda \
+    --use_amp=false
+```

config.json

@@ -1,53 +1,74 @@
 {
-  "n_obs_steps": 2,
-  "horizon": 16,
-  "n_action_steps": 8,
-  "input_shapes": {
-    "observation.image": [
-      3,
-      96,
-      96
-    ],
-    "observation.state": [
-      2
-    ]
-  },
-  "output_shapes": {
-    "action": [
-      2
-    ]
-  },
-  "input_normalization_modes": {
-    "observation.image": "mean_std",
-    "observation.state": "min_max"
-  },
-  "output_normalization_modes": {
-    "action": "min_max"
-  },
-  "vision_backbone": "resnet18",
+  "beta_end": 0.02,
+  "beta_schedule": "squaredcos_cap_v2",
+  "beta_start": 0.0001,
+  "clip_sample": true,
+  "clip_sample_range": 1.0,
+  "crop_is_random": true,
   "crop_shape": [
     84,
     84
   ],
-  "crop_is_random": true,
-  "pretrained_backbone_weights": null,
-  "use_group_norm": true,
-  "spatial_softmax_num_keypoints": 32,
+  "diffusion_step_embed_dim": 128,
+  "do_mask_loss_for_padding": false,
   "down_dims": [
     512,
     1024,
     2048
   ],
+  "drop_n_last_frames": 7,
+  "horizon": 16,
+  "input_features": {
+    "observation.image": {
+      "shape": [
+        3,
+        96,
+        96
+      ],
+      "type": "VISUAL"
+    },
+    "observation.state": {
+      "shape": [
+        2
+      ],
+      "type": "STATE"
+    }
+  },
   "kernel_size": 5,
+  "n_action_steps": 8,
   "n_groups": 8,
-  "diffusion_step_embed_dim": 128,
-  "use_film_scale_modulation": true,
+  "n_obs_steps": 2,
+  "noise_scheduler_type": "DDPM",
+  "normalization_mapping": {
+    "ACTION": "MIN_MAX",
+    "STATE": "MIN_MAX",
+    "VISUAL": "MEAN_STD"
+  },
+  "num_inference_steps": null,
   "num_train_timesteps": 100,
-  "beta_schedule": "squaredcos_cap_v2",
-  "beta_start": 0.0001,
-  "beta_end": 0.02,
+  "optimizer_betas": [
+    0.95,
+    0.999
+  ],
+  "optimizer_eps": 1e-08,
+  "optimizer_lr": 0.0001,
+  "optimizer_weight_decay": 1e-06,
+  "output_features": {
+    "action": {
+      "shape": [
+        2
+      ],
+      "type": "ACTION"
+    }
+  },
   "prediction_type": "epsilon",
-  "clip_sample": true,
-  "clip_sample_range": 1.0,
-  "num_inference_steps": 100
+  "pretrained_backbone_weights": null,
+  "scheduler_name": "cosine",
+  "scheduler_warmup_steps": 500,
+  "spatial_softmax_num_keypoints": 32,
+  "type": "diffusion",
+  "use_film_scale_modulation": true,
+  "use_group_norm": true,
+  "use_separate_rgb_encoder_per_camera": false,
+  "vision_backbone": "resnet18"
 }

config.yaml

@@ -1,141 +0,0 @@
-device: cuda
-use_amp: false
-seed: 100000
-dataset_repo_id: lerobot/pusht
-training:
-  offline_steps: 200000
-  online_steps: 0
-  online_steps_between_rollouts: 1
-  online_sampling_ratio: 0.5
-  online_env_seed: ???
-  eval_freq: 10000
-  save_freq: 20000
-  log_freq: 250
-  save_model: true
-  batch_size: 64
-  grad_clip_norm: 10
-  lr: 0.0001
-  lr_scheduler: cosine
-  lr_warmup_steps: 500
-  adam_betas:
-  - 0.95
-  - 0.999
-  adam_eps: 1.0e-08
-  adam_weight_decay: 1.0e-06
-  delta_timestamps:
-    observation.image:
-    - -0.1
-    - 0.0
-    observation.state:
-    - -0.1
-    - 0.0
-    action:
-    - -0.1
-    - 0.0
-    - 0.1
-    - 0.2
-    - 0.3
-    - 0.4
-    - 0.5
-    - 0.6
-    - 0.7
-    - 0.8
-    - 0.9
-    - 1.0
-    - 1.1
-    - 1.2
-    - 1.3
-    - 1.4
-  n_end_keyframes_dropped: ${policy.horizon} - ${policy.n_action_steps} - ${policy.n_obs_steps}
-    + 1
-eval:
-  n_episodes: 50
-  batch_size: 50
-  use_async_envs: false
-wandb:
-  enable: true
-  disable_artifact: true
-  project: lerobot
-  notes: ''
-fps: 10
-env:
-  name: pusht
-  task: PushT-v0
-  image_size: 96
-  state_dim: 2
-  action_dim: 2
-  fps: ${fps}
-  episode_length: 300
-  gym:
-    obs_type: pixels_agent_pos
-    render_mode: rgb_array
-    visualization_width: 384
-    visualization_height: 384
-override_dataset_stats:
-  observation.image:
-    mean:
-    - - - 0.5
-    - - - 0.5
-    - - - 0.5
-    std:
-    - - - 0.5
-    - - - 0.5
-    - - - 0.5
-  observation.state:
-    min:
-    - 13.456424
-    - 32.938293
-    max:
-    - 496.14618
-    - 510.9579
-  action:
-    min:
-    - 12.0
-    - 25.0
-    max:
-    - 511.0
-    - 511.0
-policy:
-  name: diffusion
-  n_obs_steps: 2
-  horizon: 16
-  n_action_steps: 8
-  input_shapes:
-    observation.image:
-    - 3
-    - 96
-    - 96
-    observation.state:
-    - ${env.state_dim}
-  output_shapes:
-    action:
-    - ${env.action_dim}
-  input_normalization_modes:
-    observation.image: mean_std
-    observation.state: min_max
-  output_normalization_modes:
-    action: min_max
-  vision_backbone: resnet18
-  crop_shape:
-  - 84
-  - 84
-  crop_is_random: true
-  pretrained_backbone_weights: null
-  use_group_norm: true
-  spatial_softmax_num_keypoints: 32
-  down_dims:
-  - 512
-  - 1024
-  - 2048
-  kernel_size: 5
-  n_groups: 8
-  diffusion_step_embed_dim: 128
-  use_film_scale_modulation: true
-  num_train_timesteps: 100
-  beta_schedule: squaredcos_cap_v2
-  beta_start: 0.0001
-  beta_end: 0.02
-  prediction_type: epsilon
-  clip_sample: true
-  clip_sample_range: 1.0
-  num_inference_steps: 100

eval_avg_max_reward.csv

@@ -1,21 +0,0 @@
-Step,diffusion_pusht_final - eval/avg_max_reward
-10000,0.727783498535056
-20000,0.926793976568431
-30000,0.928166216058858
-40000,0.958328167172369
-50000,0.943188394510958
-60000,0.937613393970094
-70000,0.964618642115711
-80000,0.978192933234
-90000,0.953355139113338
-100000,0.950833988995675
-110000,0.982668314916378
-120000,0.939619379505442
-130000,0.959122695767039
-140000,0.968145088219487
-150000,0.959675288643079
-160000,0.988640977099844
-170000,0.943671615378961
-180000,0.965194043468211
-190000,0.963914309028651
-200000,0.959864101861565

eval_pc_success.csv

@@ -1,21 +0,0 @@
-Step,diffusion_pusht_final - eval/pc_success
-10000,12
-20000,58
-30000,52
-40000,66
-50000,66
-60000,66
-70000,64
-80000,70
-90000,68
-100000,68
-110000,70
-120000,58
-130000,70
-140000,74
-150000,74
-160000,64
-170000,64
-180000,70
-190000,64
-200000,62

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:877969d58d12af315d8c672a2328b3984071901b6f71bdf592b6f131056b520f
-size 1050862612
+oid sha256:995d14d35db57d95c35ad9704c3d79c8612b7bc45f3877e5c46c2cdc516856a8
+size 1050862408

train_config.json

@@ -0,0 +1,233 @@
+{
+    "dataset": {
+        "repo_id": "lerobot/pusht",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                }
+            }
+        },
+        "local_files_only": false,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav"
+    },
+    "env": {
+        "type": "pusht",
+        "task": "PushT-v0",
+        "fps": 10,
+        "features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    2
+                ]
+            },
+            "agent_pos": {
+                "type": "STATE",
+                "shape": [
+                    2
+                ]
+            },
+            "pixels": {
+                "type": "VISUAL",
+                "shape": [
+                    384,
+                    384,
+                    3
+                ]
+            }
+        },
+        "features_map": {
+            "action": "action",
+            "agent_pos": "observation.state",
+            "environment_state": "observation.environment_state",
+            "pixels": "observation.image"
+        },
+        "episode_length": 300,
+        "obs_type": "pixels_agent_pos",
+        "render_mode": "rgb_array",
+        "visualization_width": 384,
+        "visualization_height": 384
+    },
+    "policy": {
+        "type": "diffusion",
+        "n_obs_steps": 2,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "input_features": {
+            "observation.image": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    96,
+                    96
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    2
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    2
+                ]
+            }
+        },
+        "horizon": 16,
+        "n_action_steps": 8,
+        "drop_n_last_frames": 7,
+        "vision_backbone": "resnet18",
+        "crop_shape": [
+            84,
+            84
+        ],
+        "crop_is_random": true,
+        "pretrained_backbone_weights": null,
+        "use_group_norm": true,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": false,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "noise_scheduler_type": "DDPM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.0,
+        "num_inference_steps": null,
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500
+    },
+    "output_dir": "outputs/train/2025-01-17/11-51-15_pusht_diffusion",
+    "job_name": "pusht_diffusion",
+    "resume": false,
+    "device": "cuda",
+    "use_amp": false,
+    "seed": 100000,
+    "num_workers": 4,
+    "batch_size": 64,
+    "eval_freq": 25000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 25000,
+    "offline": {
+        "steps": 200000
+    },
+    "online": {
+        "steps": 0,
+        "rollout_n_episodes": 1,
+        "rollout_batch_size": 1,
+        "steps_between_rollouts": null,
+        "sampling_ratio": 0.5,
+        "env_seed": null,
+        "buffer_capacity": null,
+        "buffer_seed_size": 0,
+        "do_rollout_async": false
+    },
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null
+    }
+}

train_loss.csv

@@ -1,801 +0,0 @@
-Step,diffusion_pusht_final - train/loss
-0,1.14531636238098
-250,0.073100820183754
-500,0.0622915513813496
-750,0.0509208142757416
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