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Thomas Wolf
2024-06-14 10:19:16 +02:00
parent c108bfe840
commit 594acbf136
6 changed files with 57 additions and 78 deletions
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14
examples/real_robot_example/DEBUG_ME.md
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@@ -1,14 +0,0 @@
inp = torch.load('/home/thomwolf/Documents/Github/ACT/tensor_inp.pt')
conv = torch.load('/home/thomwolf/Documents/Github/ACT/tensor_conv.pt')
out = torch.nn.functional.conv2d(inp, conv, bias=None, stride=1, padding=1, dilation=1, groups=1)
d = torch.load('/home/thomwolf/Documents/Github/ACT/tensor_out.pt')
print((out-d).abs().max())
tensor(0.0044, device='cuda:0', grad_fn=<MaxBackward1>)
inp = torch.load('/home/thomwolf/Documents/Github/ACT/tensor_inp.pt').to('cpu')
conv = torch.load('/home/thomwolf/Documents/Github/ACT/tensor_conv.pt').to('cpu')
out = torch.nn.functional.conv2d(inp, conv, bias=None, stride=1, padding=1, dilation=1, groups=1)
d = torch.load('/home/thomwolf/Documents/Github/ACT/tensor_out.pt')
print((out-d).abs().max())
tensor(0., grad_fn=<MaxBackward1>)
out = torch.nn.functional.conv2d(inp, conv, bias=None, stride=1, padding=1, dilation=1, groups=1)
torch.save(out, '/home/thomwolf/Documents/Github/ACT/tensor_out_lerobot.pt')

5
examples/real_robot_example/convert_original_act_checkpoint.ipynb
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@@ -754,7 +754,6 @@
" 'model.transformer.decoder.layers.4.',\n",
" 'model.transformer.decoder.layers.5.',\n",
" 'model.transformer.decoder.layers.6.',\n",
" 'model.transformer.decoder.norm.',\n",
" 'model.is_pad_head']\n",
"\n",
"to_remove_in = ['num_batches_tracked',]\n",
@@ -773,6 +772,8 @@
" conv[k.replace('transformer.', '')] = a.pop(k)\n",
" if k.startswith('model.transformer.decoder.layers.0.'):\n",
" conv[k.replace('transformer.', '')] = a.pop(k)\n",
" if k.startswith('model.transformer.decoder.norm.'):\n",
" conv[k.replace('transformer.', '')] = a.pop(k)\n",
" if k.startswith('model.encoder.layers.'):\n",
" conv[k.replace('encoder.', 'vae_encoder.')] = a.pop(k)\n",
" if k.startswith('model.action_head.'):\n",
@@ -1008,7 +1009,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.1.-1"
"version": "3.10.14"
}
},
"nbformat": 4,

1
examples/real_robot_example/train_config/policy/act_real_world_debug.yaml
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@@ -48,6 +48,7 @@ training:
eval:
n_episodes: 1
batch_size: 1
max_episodes_rendered: 0
# See `configuration_act.py` for more details.
policy: