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TradewindyccTradewindycc
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[minor]: rm sa config for future release
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‎README.md‎

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@@ -75,7 +75,7 @@ This repository is built on top of [openpi](https://github.com/Physical-Intellig
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For Model Arithmetic (mixing checkpoints), GPU memory requirements depend on the model size and number of checkpoints being mixed. A single A100 (80GB) is sufficient for most use cases.
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The repo has been tested with Ubuntu 22.04.
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Non-edge components (e.g., Policy Training, Model Arithmetic) have been tested on Ubuntu 22.04.
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### Hardware
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@@ -112,7 +112,6 @@ uv pip install safetensors
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Download the Kai0 dataset so it is available under `./data` for training and evaluation. From the repository root, run:
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```bash
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pip install huggingface_hub # if not already installed
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python scripts/download_dataset.py
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```
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‎src/openpi/training/config.py‎

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Original file line numberDiff line numberDiff line change
@@ -1224,110 +1224,110 @@ def __post_init__(self) -> None:
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#************************Advantage Estimator***************************
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TrainConfig(
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name="ADVANTAGE_TORCH_KAI0_FLATTEN_FOLD",
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advantage_estimator=True,
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model=pi0_config.AdvantageEstimatorConfig(
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pi05=True,
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loss_value_weight=1.,
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loss_action_weight=0.,
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discrete_state_input=False,
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),
1236-
data=LerobotAgilexDataConfig(
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repo_id = "Path/to/your/advantage/dataset",
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assets=AssetsConfig(
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assets_dir="Path/to/your/advantage/dataset/assets",
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asset_id="Your_advantage_dataset_name",
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),
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default_prompt="Flatten and fold the cloth.",
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# * why removing "prompt" here will lead to an error in transforms.py
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repack_transforms=_transforms.Group(
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inputs=[
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_transforms.RepackTransform(
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{
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"images": {
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"top_head": "observation.images.top_head",
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"hand_left": "observation.images.hand_left",
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"hand_right": "observation.images.hand_right",
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"his_-100_top_head": "his_-100_observation.images.top_head",
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"his_-100_hand_left": "his_-100_observation.images.hand_left",
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"his_-100_hand_right": "his_-100_observation.images.hand_right",
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},
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"state": "observation.state",
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"actions": "action",
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# "prompt": "prompt", # ! Not adding this for default prompt.
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"episode_length": "episode_length",
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"frame_index": "frame_index",
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"episode_index": "episode_index",
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"progress_gt": "progress_gt",
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"stage_progress_gt": "stage_progress_gt",
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"progress": "progress",
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# "is_suboptimal": "is_suboptimal",
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}
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)
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]
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)
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),
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pytorch_weight_path="Path/to/your/pi05_base/checkpoint",
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num_train_steps=100_000,
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keep_period=10000,
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save_interval=10000,
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num_workers=8,
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batch_size=16, # * 1 gpus
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# batch_size=128, # * 8 gpus
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skip_norm_stats=True, # * No norm stats used.
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),
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TrainConfig(
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name="ADVANTAGE_TORCH_PI06_FLATTEN_FOLD",
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advantage_estimator=True,
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model=pi0_config.AdvantageEstimatorConfig(
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pi05=True,
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loss_value_weight=1.,
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loss_action_weight=0., # No action loss in advantage estimator training
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discrete_state_input=False, # Not using states into prompt like pi05
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),
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data=LerobotAgilexDataConfig(
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# repo_id = "/cpfs01/shared/filtered_cut_data/short_sleeve/flatten_fold/v9-3/1022_20_590_v9-3_2000_lerobot",
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repo_id = "Path/to/your/advantage/dataset",
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assets=AssetsConfig(
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assets_dir="Path/to/your/advantage/dataset/assets",
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asset_id="Your_advantage_dataset_name",
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),
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default_prompt="Flatten and fold the cloth.",
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# * why removing "prompt" here will lead to an error in transforms.py
1298-
repack_transforms=_transforms.Group(
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inputs=[
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_transforms.RepackTransform(
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{
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"images": {
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"top_head": "observation.images.top_head",
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"hand_left": "observation.images.hand_left",
1305-
"hand_right": "observation.images.hand_right",
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},
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"state": "observation.state",
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"actions": "action",
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# "prompt": "prompt", # No need if default prompt is used.
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"episode_length": "episode_length",
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"frame_index": "frame_index",
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"episode_index": "episode_index",
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"progress_gt": "progress_gt",
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"stage_progress_gt": "stage_progress_gt",
1315-
"progress": "progress",
1316-
# "is_suboptimal": "is_suboptimal",
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}
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)
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]
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)
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),
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pytorch_weight_path="Path/to/your/pi06_base/checkpoint",
1323-
num_train_steps=100_000,
1324-
keep_period=10000,
1325-
save_interval=10000,
1326-
num_workers=55,
1327-
# batch_size=16, # * 1 gpus
1328-
batch_size=18*8, # * 8 gpus
1329-
skip_norm_stats=True, # * No norm stats used.
1330-
),
1227+
# TrainConfig(
1228+
# name="ADVANTAGE_TORCH_KAI0_FLATTEN_FOLD",
1229+
# advantage_estimator=True,
1230+
# model=pi0_config.AdvantageEstimatorConfig(
1231+
# pi05=True,
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# loss_value_weight=1.,
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# loss_action_weight=0.,
1234+
# discrete_state_input=False,
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# ),
1236+
# data=LerobotAgilexDataConfig(
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# repo_id = "Path/to/your/advantage/dataset",
1238+
# assets=AssetsConfig(
1239+
# assets_dir="Path/to/your/advantage/dataset/assets",
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# asset_id="Your_advantage_dataset_name",
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# ),
1242+
# default_prompt="Flatten and fold the cloth.",
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# # * why removing "prompt" here will lead to an error in transforms.py
1244+
# repack_transforms=_transforms.Group(
1245+
# inputs=[
1246+
# _transforms.RepackTransform(
1247+
# {
1248+
# "images": {
1249+
# "top_head": "observation.images.top_head",
1250+
# "hand_left": "observation.images.hand_left",
1251+
# "hand_right": "observation.images.hand_right",
1252+
# "his_-100_top_head": "his_-100_observation.images.top_head",
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# "his_-100_hand_left": "his_-100_observation.images.hand_left",
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# "his_-100_hand_right": "his_-100_observation.images.hand_right",
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# },
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# "state": "observation.state",
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# "actions": "action",
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# # "prompt": "prompt", # ! Not adding this for default prompt.
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# "episode_length": "episode_length",
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# "frame_index": "frame_index",
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# "episode_index": "episode_index",
1262+
# "progress_gt": "progress_gt",
1263+
# "stage_progress_gt": "stage_progress_gt",
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# "progress": "progress",
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# # "is_suboptimal": "is_suboptimal",
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# }
1267+
# )
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# ]
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# )
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# ),
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# pytorch_weight_path="Path/to/your/pi05_base/checkpoint",
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# num_train_steps=100_000,
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# keep_period=10000,
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# save_interval=10000,
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# num_workers=8,
1276+
# batch_size=16, # * 1 gpus
1277+
# # batch_size=128, # * 8 gpus
1278+
# skip_norm_stats=True, # * No norm stats used.
1279+
# ),
1280+
# TrainConfig(
1281+
# name="ADVANTAGE_TORCH_PI06_FLATTEN_FOLD",
1282+
# advantage_estimator=True,
1283+
# model=pi0_config.AdvantageEstimatorConfig(
1284+
# pi05=True,
1285+
# loss_value_weight=1.,
1286+
# loss_action_weight=0., # No action loss in advantage estimator training
1287+
# discrete_state_input=False, # Not using states into prompt like pi05
1288+
# ),
1289+
# data=LerobotAgilexDataConfig(
1290+
# # repo_id = "/cpfs01/shared/filtered_cut_data/short_sleeve/flatten_fold/v9-3/1022_20_590_v9-3_2000_lerobot",
1291+
# repo_id = "Path/to/your/advantage/dataset",
1292+
# assets=AssetsConfig(
1293+
# assets_dir="Path/to/your/advantage/dataset/assets",
1294+
# asset_id="Your_advantage_dataset_name",
1295+
# ),
1296+
# default_prompt="Flatten and fold the cloth.",
1297+
# # * why removing "prompt" here will lead to an error in transforms.py
1298+
# repack_transforms=_transforms.Group(
1299+
# inputs=[
1300+
# _transforms.RepackTransform(
1301+
# {
1302+
# "images": {
1303+
# "top_head": "observation.images.top_head",
1304+
# "hand_left": "observation.images.hand_left",
1305+
# "hand_right": "observation.images.hand_right",
1306+
# },
1307+
# "state": "observation.state",
1308+
# "actions": "action",
1309+
# # "prompt": "prompt", # No need if default prompt is used.
1310+
# "episode_length": "episode_length",
1311+
# "frame_index": "frame_index",
1312+
# "episode_index": "episode_index",
1313+
# "progress_gt": "progress_gt",
1314+
# "stage_progress_gt": "stage_progress_gt",
1315+
# "progress": "progress",
1316+
# # "is_suboptimal": "is_suboptimal",
1317+
# }
1318+
# )
1319+
# ]
1320+
# )
1321+
# ),
1322+
# pytorch_weight_path="Path/to/your/pi06_base/checkpoint",
1323+
# num_train_steps=100_000,
1324+
# keep_period=10000,
1325+
# save_interval=10000,
1326+
# num_workers=55,
1327+
# # batch_size=16, # * 1 gpus
1328+
# batch_size=18*8, # * 8 gpus
1329+
# skip_norm_stats=True, # * No norm stats used.
1330+
# ),
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#************************advantage estimator***************************
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# RoboArena & PolaRiS configs.
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*roboarena_config.get_roboarena_configs(),

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