MimicGen

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于 2023-11-17 17:18:28 首次发布
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MimicGen

介绍

MimicGen 的作用是用来解决数据不足的问题，可用通过简单的示教少数轨迹或人物，就可以合成大量的测试数据

环境搭建

代码运行

1. 生成任务：

python generate_training_configs.py
python generate_training_configs.py --config_dir /tmp/configs --dataset_dir /tmp/datasets --output_dir /tmp/experiment_results

会生成一堆配置文件

2. 训练数据:

python /path/to/robomimic/scripts/train.py --config /path/to/mimicgen_envs/exps/paper/core/coffee_d0/image/bc_rnn.json

会生成一组pt文件，择优选择最好的即可；

3. 生成数据：

python run_trained_agent.py --agent /path/to/model.pth --n_rollouts 50 --horizon 400 --seed 0 --dataset_path /path/to/output.hdf5 --dataset_obs

生成后缀为 hdf5 的数据集

4. 可视化数据

python playback_dataset.py --dataset ./mug_cleanup_o1.hdf5 --use-actions --render_image_names agentview --video_path ./vis_object_cleanup_o1.mp4

实现将 hdf5 文件中的轨迹可视化

Q&A

  1. 如何实现少量数据生成大量数据的–尚未找到相关代码；
  2. 利用robomimic 中的 train 的目的是什么；
  3. 如何将自己特定的场景作为输入；

Appendix

1. 数据解析

利用 robomimic 中的 get_dataset_info.py 分析下官方给定数据集的详细信息，首先看下 source 里面的数据，这个数据也是后期我们需要提供的原始数据：

#source/coffee,hdf5
total transitions: 2082
total trajectories: 10
traj length mean: 208.2
traj length std: 12.75774274705365
traj length min: 193
traj length max: 232
action min: -1.0
action max: 1.0

==== Filter Keys ====
filter key first_10 with 10 demos

==== Env Meta ====
{
    "env_name": "Coffee_D0",
    "env_version": "1.4.1",
    "type": 1,
    "env_kwargs": {
        "has_renderer": false,
        "has_offscreen_renderer": true,
        "ignore_done": true,
        "use_object_obs": true,
        "use_camera_obs": true,
        "control_freq": 20,
        "controller_configs": {
            "type": "OSC_POSE",
            "input_max": 1,
            "input_min": -1,
            "output_max": [
                0.05,
                0.05,
                0.05,
                0.5,
                0.5,
                0.5
            ],
            "output_min": [
                -0.05,
                -0.05,
                -0.05,
                -0.5,
                -0.5,
                -0.5
            ],
            "kp": 150,
            "damping": 1,
            "impedance_mode": "fixed",
            "kp_limits": [
                0,
                300
            ],
            "damping_limits": [
                0,
                10
            ],
            "position_limits": null,
            "orientation_limits": null,
            "uncouple_pos_ori": true,
            "control_delta": true,
            "interpolation": null,
            "ramp_ratio": 0.2
        },
        "robots": [
            "Panda"
        ],
        "camera_depths": false,
        "camera_heights": 84,
        "camera_widths": 84,
        "reward_shaping": false,
        "camera_names": [
            "agentview",
            "robot0_eye_in_hand"
        ],
        "render_gpu_device_id": 0
    }
}

==== Dataset Structure ====
episode demo_0 with 200 transitions
    key: actions with shape (200, 7)
    key: dones with shape (200,)
    key: obs
        observation key agentview_image with shape (200, 84, 84, 3)
        observation key object with shape (200, 57)
        observation key robot0_eef_pos with shape (200, 3)
        observation key robot0_eef_pos_rel_pod with shape (200, 3)
        observation key robot0_eef_pos_rel_pod_holder with shape (200, 3)
        observation key robot0_eef_quat with shape (200, 4)
        observation key robot0_eef_quat_rel_pod with shape (200, 4)
        observation key robot0_eef_quat_rel_pod_holder with shape (200, 4)
        observation key robot0_eef_vel_ang with shape (200, 3)
        observation key robot0_eef_vel_lin with shape (200, 3)
        observation key robot0_eye_in_hand_image with shape (200, 84, 84, 3)
        observation key robot0_gripper_qpos with shape (200, 2)
        observation key robot0_gripper_qvel with shape (200, 2)
        observation key robot0_joint_pos with shape (200, 7)
        observation key robot0_joint_pos_cos with shape (200, 7)
        observation key robot0_joint_pos_sin with shape (200, 7)
        observation key robot0_joint_vel with shape (200, 7)
    key: rewards with shape (200,)
    key: states with shape (200, 47)

# core/coffe_preparate.hdf5
total transitions: 689273
total trajectories: 1000
traj length mean: 689.273
traj length std: 48.51659995300578
traj length min: 591
traj length max: 760
action min: -1.0
action max: 1.0

==== Filter Keys ====
no filter keys

==== Env Meta ====
{
    "env_name": "CoffeePreparation_D0",
    "env_version": "1.4.1",
    "type": 1,
    "env_kwargs": {
        "has_renderer": false,
        "has_offscreen_renderer": true,
        "ignore_done": true,
        "use_object_obs": true,
        "use_camera_obs": true,
        "control_freq": 20,
        "controller_configs": {
            "type": "OSC_POSE",
            "input_max": 1,
            "input_min": -1,
            "output_max": [
                0.05,
                0.05,
                0.05,
                0.5,
                0.5,
                0.5
            ],
            "output_min": [
                -0.05,
                -0.05,
                -0.05,
                -0.5,
                -0.5,
                -0.5
            ],
            "kp": 150,
            "damping": 1,
            "impedance_mode": "fixed",
            "kp_limits": [
                0,
                300
            ],
            "damping_limits": [
                0,
                10
            ],
            "position_limits": null,
            "orientation_limits": null,
            "uncouple_pos_ori": true,
            "control_delta": true,
            "interpolation": null,
            "ramp_ratio": 0.2
        },
        "robots": [
            "Panda"
        ],
        "camera_depths": false,
        "camera_heights": 84,
        "camera_widths": 84,
        "render_gpu_device_id": 0,
        "reward_shaping": false,
        "camera_names": [
            "agentview",
            "robot0_eye_in_hand"
        ]
    }
}

==== Dataset Structure ====
episode demo_0 with 673 transitions
    key: actions with shape (673, 7)
    key: dones with shape (673,)
    key: obs
        observation key agentview_image with shape (673, 84, 84, 3)
        observation key object with shape (673, 86)
        observation key robot0_eef_pos with shape (673, 3)
        observation key robot0_eef_pos_rel_pod with shape (673, 3)
        observation key robot0_eef_pos_rel_pod_holder with shape (673, 3)
        observation key robot0_eef_quat with shape (673, 4)
        observation key robot0_eef_quat_rel_pod with shape (673, 4)
        observation key robot0_eef_quat_rel_pod_holder with shape (673, 4)
        observation key robot0_eef_vel_ang with shape (673, 3)
        observation key robot0_eef_vel_lin with shape (673, 3)
        observation key robot0_eye_in_hand_image with shape (673, 84, 84, 3)
        observation key robot0_gripper_qpos with shape (673, 2)
        observation key robot0_gripper_qvel with shape (673, 2)
        observation key robot0_joint_pos with shape (673, 7)
        observation key robot0_joint_pos_cos with shape (673, 7)
        observation key robot0_joint_pos_sin with shape (673, 7)
        observation key robot0_joint_vel with shape (673, 7)
    key: rewards with shape (673,)
    key: states with shape (673, 62)

数据对比

文件名sourcecore
demo数量101000
trajs1010
轨迹采样点不定600-800不定
点表示未知未知

轨迹点实例：

ipdb> f['data']['demo_4']['actions'][1]
    >> array([-0.00477523,  0.25546803, -0.08610821, -0.00303893,  0.03876611, -0.02707935, -1.])
ipdb> len(f['data']['demo_4']['actions'])
    >> 711

轨迹点示例如下：
在这里插入图片描述

请添加图片描述
数据对照：
请添加图片描述

数据解析

hdf5 数据结构如下：
数据域如下

		-data
    		--  attr: env_args
		    --  attr: total
			--  demo_0 # n 组
	   			--- attr: model_file
			    --- arrt: num_samples # 676
				--- actions # 676 * 7
				--- dones # 0/1
	   		    --- rewards # 0/1
		  	    --- states # 676 * 62
				--- obs
					---- agentview_image
					---- object # 676 * 86
   					---- robot0_eef_pos # 676 * 3
   					---- robot0_eef_pos_rel_pod # 676 * 3
   					---- robot0_eef_pos_rel_pod_holder # 676 * 3
   					---- robot0_eef_quat
   					---- robot0_eef_quat_rel_pod
   					---- robot0_eef_quat_rel_pod_holder
   					---- robot0_eef_vel_ang
   					---- robot0_eef_vel_lin
   					---- robot0_eye_in_hand_image
   					---- robot0_gripper_qpos
   					---- robot0_gripper_qvel
   					---- robot0_joint_pos
   					---- robot0_joint_pos_cos
   					---- robot0_joint_pos_sin
   					---- robot0_joint_vel
		-mask
			-- first_10
重点数据示例：

env_args的内容如下：
在这里插入图片描述demo/model_file的内容如下：

<mujoco model="base">\n  
	<compiler angle="radian" meshdir="meshes/" autolimits="true" />\n  
	<option impratio="20" density="1.2" viscosity="2e-05" cone="elliptic" />\n  
	<size njmax="5000" nconmax="5000" />\n  <visual>\n    
	<map znear="0.001" />\n  
	</visual>\n 
	 <default />\n  
	 <asset>\n   
	  <texture type="skybox" builtin="gradient" rgb1="0.9 0.9 1" rgb2="0.2 0.3 0.4" width="256" height="1536" />\n   
	   <texture type="2d" name="texplane" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/arenas/../textures/light-gray-floor-tile.png" />\n  
	   <texture type="cube" name="tex-ceramic" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/arenas/../textures/ceramic.png" />\n    <texture type="cube" name="tex-steel-brushed" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/arenas/../textures/steel-brushed.png" />\n    <texture type="2d" name="tex-light-gray-plaster" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/arenas/../textures/light-gray-plaster.png" />\n    <texture type="cube" name="textable" builtin="flat" rgb1="0.5 0.5 0.5" width="512" height="3072" />\n    <texture type="cube" name="coffee_pod_tex-ceramic" file="/Users/amandlekar/Desktop/installed_libraries/mimicgen_environments/mimicgen_envs/models/robosuite/assets/objects/../textures/ceramic.png" />\n    <texture type="cube" name="coffee_machine_body_tex-ceramic" file="/Users/amandlekar/Desktop/installed_libraries/mimicgen_environments/mimicgen_envs/models/robosuite/assets/objects/../textures/ceramic.png" />\n    <texture type="cube" name="coffee_machine_lid_tex-ceramic" file="/Users/amandlekar/Desktop/installed_libraries/mimicgen_environments/mimicgen_envs/models/robosuite/assets/objects/../textures/ceramic.png" />\n    <texture type="cube" name="coffee_machine_base_tex-ceramic" file="/Users/amandlekar/Desktop/installed_libraries/mimicgen_environments/mimicgen_envs/models/robosuite/assets/objects/../textures/ceramic.png" />\n    <texture type="cube" name="CabinetObject_redwood" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/textures/red-wood.png" />\n    <texture type="cube" name="CabinetObject_ceramic" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/textures/ceramic.png" />\n    <texture type="cube" name="CabinetObject_lightwood" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/textures/light-wood.png" />\n    <texture type="2d" name="mug_tex-3143a4ac" file="/Users/amandlekar/Desktop/installed_libraries/mimicgen_environments/mimicgen_envs/models/robosuite/assets/shapenet_core/mugs/3143a4ac/../../../textures/ceramic.png" />\n    <material name="floorplane" texture="texplane" texuniform="true" texrepeat="2 2" specular="0" shininess="0" reflectance="0.01" />\n    <material name="table_ceramic" texture="tex-ceramic" specular="0.2" shininess="0" />\n    <material name="table_legs_metal" texture="tex-steel-brushed" shininess="0.8" reflectance="0.8" />\n    <material name="walls_mat" texture="tex-light-gray-plaster" texuniform="true" texrepeat="3 3" specular="0.1" shininess="0.1" />\n    <material name="table_mat" texture="textable" />\n    <material name="robot0_Face636_001" shininess="0.45" rgba="0.901961 0.921569 0.929412 1" />\n    <material name="robot0_Part__Feature017_001" shininess="0.45" />\n    <material name="robot0_Part__Feature018_001" shininess="0.45" />\n    <material name="robot0_Part__Feature019_001" shininess="0.45" />\n    <material name="robot0_Part__Feature022_001" shininess="0.45" rgba="0.901961 0.921569 0.929412 1" />\n    <material name="robot0_Part__Feature023_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Shell001_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Shell002_001" shininess="0.45" rgba="0.901961 0.921569 0.929412 1" />\n    <material name="robot0_Shell003_001" shininess="0.45" rgba="0.901961 0.921569 0.929412 1" />\n    <material name="robot0_Shell009_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Shell010_001" shininess="0.45" rgba="0.901961 0.921569 0.929412 1" />\n    <material name="robot0_Shell_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Feature_001" shininess="0.45" />\n    <material name="robot0_Part__Feature024" shininess="0.45" />\n    <material name="robot0_Part__Feature001_010_001_002" shininess="0.45" />\n    <material name="robot0_Part__Feature002_007_001_002" shininess="0.45" />\n    <material name="robot0_Part__Feature003_004_001_002" shininess="0.45" />\n    <material name="robot0_Part__Feature_001_001_001_002" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Feature001_001_003_001" shininess="0.45" />\n    <material name="robot0_Part__Feature002_001_003_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Feature003_001_003_001" shininess="0.45" />\n    <material name="robot0_Part__Feature_002_003_001" shininess="0.45" />\n    <material name="robot0_Part__Feature_002_004_003" shininess="0.45" />\n    <material name="robot0_Shell001_001_001_003" shininess="0.45" rgba="0.25 0.25 0.25 1" />\n    <material name="robot0_Shell_001_001_003" shininess="0.45" />\n    <material name="robot0_Face064_002_001_002_001" shininess="0.45" rgba="1 0 0 1" />\n    <material name="robot0_Face065_002_001_002_001" shininess="0.45" rgba="0 1 0 1" />\n    <material name="robot0_Face374_002_001_002_001" shininess="0.45" />\n    <material name="robot0_Face539_002_001_002_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Feature001_009_001_002_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Feature002_006_001_002_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Shell002_002_001_002_001" shininess="0.45" />\n    <material name="robot0_Shell003_002_001_002_001" shininess="0.45" />\n    <material name="robot0_Shell004_001_001_002_001" shininess="0.45" />\n    <material name="robot0_Shell005_001_001_002_001" shininess="0.45" />\n    <material name="robot0_Shell006_003_002_001" shininess="0.45" rgba="0.901961 0.921569 0.929412 1" />\n    <material name="robot0_Shell007_002_002_001" shininess="0.45" rgba="0.25 0.25 0.25 1" />\n    <material name="robot0_Shell011_002_002_001" shininess="0.45" />\n    <material name="robot0_Shell012_002_002_001" shininess="0.45" />\n    <material name="robot0_Shell_003_001_002_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Union001_001_001_002_001" shininess="0.45" rgba="0.039216 0.541176 0.780392 1" />\n    <material name="robot0_Union_001_001_002_001" shininess="0.45" rgba="0.039216 0.541176 0.780392 1" />\n    <material name="robot0_Part__Mirroring001_004_002" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Mirroring002_004_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Mirroring003_004_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Mirroring004_004_002" shininess="0.45" />\n    <material name="robot0_Part__Mirroring005_004_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Mirroring006_004_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Mirroring007_004_001" shininess="0.45" rgba="0.25098 0.25098 0.25098 1" />\n    <material name="robot0_Part__Mirroring_004_001" shininess="0.45" rgba="0.898039 0.917647 0.929412 1" />\n    <material name="coffee_pod_ceramic" texture="coffee_pod_tex-ceramic" texuniform="true" reflectance="0.5" />\n    <material name="coffee_machine_body_ceramic" texture="coffee_machine_body_tex-ceramic" texuniform="true" reflectance="0.5" />\n    <material name="coffee_machine_lid_ceramic" texture="coffee_machine_lid_tex-ceramic" texuniform="true" reflectance="0.5" />\n    <material name="coffee_machine_base_ceramic" texture="coffee_machine_base_tex-ceramic" texuniform="true" reflectance="0.5" />\n    <material name="CabinetObject_MatRedWood" texture="CabinetObject_redwood" specular="0.4" shininess="0.1" />\n    <material name="CabinetObject_MatCeramic" texture="CabinetObject_ceramic" specular="0.4" shininess="0.1" />\n    <material name="CabinetObject_MatLightWood" texture="CabinetObject_lightwood" texrepeat="3 3" specular="0.4" shininess="0.1" />\n    <material name="mug_3143a4ac" texture="mug_tex-3143a4ac" reflectance="0.5" />\n    <material name="mug_material_0_24" specular="0.4" shininess="0.01" rgba="0.823529 0.705882 0.54902 1" />\n    <mesh name="robot0_link0" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/robots/panda/meshes/link0.stl" />\n    <mesh name="robot0_link1" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/robots/panda/meshes/link1.stl" />\n    <mesh name="robot0_link2" file="/Users/amandlekar/Desktop/installed_libraries/robosuite/robosuite/models/assets/robots/panda/meshes/link2.stl" />\n    <mesh name="robot0_link3" 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name="mug_g26" type="mesh" friction="1 1 1" solref="0.001 1" solimp="0.998 0.998 0.001 0.5 2" margin="0.001" density="100" rgba="0.5 0 0 1" mesh="mug_model_normalized_collision_17._coll" />\n      <geom name="mug_g27" type="mesh" friction="1 1 1" solref="0.001 1" solimp="0.998 0.998 0.001 0.5 2" margin="0.001" density="100" rgba="0.5 0 0 1" mesh="mug_model_normalized_collision_31._coll" />\n      <geom name="mug_g28" type="mesh" friction="1 1 1" solref="0.001 1" solimp="0.998 0.998 0.001 0.5 2" margin="0.001" density="100" rgba="0.5 0 0 1" mesh="mug_model_normalized_collision_3._coll" />\n      <geom name="mug_g29" type="mesh" friction="1 1 1" solref="0.001 1" solimp="0.998 0.998 0.001 0.5 2" margin="0.001" density="100" rgba="0.5 0 0 1" mesh="mug_model_normalized_collision_9._coll" />\n      <geom name="mug_g30" type="mesh" friction="1 1 1" solref="0.001 1" solimp="0.998 0.998 0.001 0.5 2" margin="0.001" density="100" rgba="0.5 0 0 1" mesh="mug_model_normalized_collision_22._coll" />\n      <geom name="mug_g31" type="mesh" friction="1 1 1" solref="0.001 1" solimp="0.998 0.998 0.001 0.5 2" margin="0.001" density="100" rgba="0.5 0 0 1" mesh="mug_model_normalized_collision_7._coll" />\n      <geom name="mug_g32" type="mesh" friction="1 1 1" solref="0.001 1" solimp="0.998 0.998 0.001 0.5 2" margin="0.001" density="100" rgba="0.5 0 0 1" mesh="mug_model_normalized_collision_0._coll" />\n      <site name="mug_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0" />\n    </body>\n  </worldbody>\n  <actuator>\n    <general name="robot0_torq_j1" joint="robot0_joint1" ctrlrange="-80 80" actdim="0" />\n    <general name="robot0_torq_j2" joint="robot0_joint2" ctrlrange="-80 80" actdim="0" />\n    <general name="robot0_torq_j3" joint="robot0_joint3" ctrlrange="-80 80" actdim="0" />\n    <general name="robot0_torq_j4" joint="robot0_joint4" ctrlrange="-80 80" actdim="0" />\n    <general name="robot0_torq_j5" joint="robot0_joint5" ctrlrange="-80 80" actdim="0" />\n    <general name="robot0_torq_j6" joint="robot0_joint6" ctrlrange="-12 12" actdim="0" />\n    <general name="robot0_torq_j7" joint="robot0_joint7" ctrlrange="-12 12" actdim="0" />\n    <general name="gripper0_gripper_finger_joint1" joint="gripper0_finger_joint1" ctrlrange="0 0.04" forcerange="-20 20" actdim="0" biastype="affine" gainprm="1000 0 0 0 0 0 0 0 0 0" biasprm="0 -1000 0 0 0 0 0 0 0 0" />\n    <general name="gripper0_gripper_finger_joint2" joint="gripper0_finger_joint2" ctrlrange="-0.04 0" forcerange="-20 20" actdim="0" biastype="affine" gainprm="1000 0 0 0 0 0 0 0 0 0" biasprm="0 -1000 0 0 0 0 0 0 0 0" />\n  </actuator>\n  <sensor>\n    <force site="gripper0_ft_frame" name="gripper0_force_ee" />\n    <torque site="gripper0_ft_frame" name="gripper0_torque_ee" />\n  </sensor>\n</mujoco>'
PT文件解析

policy 信息

============= Loaded Policy =============
ObservationKeyToModalityDict: mean not found, adding mean to mapping with assumed low_dim modality!
ObservationKeyToModalityDict: scale not found, adding scale to mapping with assumed low_dim modality!
ObservationKeyToModalityDict: logits not found, adding logits to mapping with assumed low_dim modality!
BC_RNN_GMM (
  ModuleDict(
    (policy): RNNGMMActorNetwork(
        action_dim=7, std_activation=softplus, low_noise_eval=True, num_nodes=5, min_std=0.0001
  
        encoder=ObservationGroupEncoder(
            group=obs
            ObservationEncoder(
                Key(
                    name=agentview_image
                    shape=[3, 84, 84]
                    modality=rgb
                    randomizer=CropRandomizer(input_shape=[3, 84, 84], crop_size=[76, 76], num_crops=1)
                    net=VisualCore(
                      input_shape=[3, 76, 76]
                      output_shape=[64]
                      backbone_net=ResNet18Conv(input_channel=3, input_coord_conv=False)
                      pool_net=SpatialSoftmax(num_kp=32, temperature=1.0, noise=0.0)
                    )
                    sharing_from=None
                )
                Key(
                    name=robot0_eef_pos
                    shape=[3]
                    modality=low_dim
                    randomizer=None
                    net=None
                    sharing_from=None
                )
                Key(
                    name=robot0_eef_quat
                    shape=[4]
                    modality=low_dim
                    randomizer=None
                    net=None
                    sharing_from=None
                )
                Key(
                    name=robot0_eye_in_hand_image
                    shape=[3, 84, 84]
                    modality=rgb
                    randomizer=CropRandomizer(input_shape=[3, 84, 84], crop_size=[76, 76], num_crops=1)
                    net=VisualCore(
                      input_shape=[3, 76, 76]
                      output_shape=[64]
                      backbone_net=ResNet18Conv(input_channel=3, input_coord_conv=False)
                      pool_net=SpatialSoftmax(num_kp=32, temperature=1.0, noise=0.0)
                    )
                    sharing_from=None
                )
                Key(
                    name=robot0_gripper_qpos
                    shape=[2]
                    modality=low_dim
                    randomizer=None
                    net=None
                    sharing_from=None
                )
                output_shape=[137]
            )
        )
  
        rnn=RNN_Base(
          (per_step_net): ObservationDecoder(
              Key(
                  name=mean
                  shape=(5, 7)
                  modality=low_dim
                  net=(Linear(in_features=1000, out_features=35, bias=True))
              )
              Key(
                  name=scale
                  shape=(5, 7)
                  modality=low_dim
                  net=(Linear(in_features=1000, out_features=35, bias=True))
              )
              Key(
                  name=logits
                  shape=(5,)
                  modality=low_dim
                  net=(Linear(in_features=1000, out_features=5, bias=True))
              )coffee_preparation_d0
          )
          (nets): LSTM(137, 1000, num_layers=2, batch_first=True)
        )
    )
  )
)
ckpt数据
keys = dict_keys(['model', 'config', 'algo_name', 'env_metadata', 'shape_metadata'])

model 部分局部截图，推测为 policy 中用到的具体参数
在这里插入图片描述config 为训练时指定的 json 内容，详细数据如下：

'{\n    "algo_name": "bc",\n    "experiment": {\n        "name": "core_coffee_preparation_d0_image",\n        "validate": false,\n        "logging": {\n            "terminal_output_to_txt": true,\n            "log_tb": true,\n            "log_wandb": false,\n            "wandb_proj_name": "debug"\n        },\n        "save": {\n            "enabled": true,\n            "every_n_seconds": null,\n            "every_n_epochs": 20,\n            "epochs": [],\n            "on_best_validation": false,\n            "on_best_rollout_return": false,\n            "on_best_rollout_success_rate": true\n        },\n        "epoch_every_n_steps": 500,\n        "validation_epoch_every_n_steps": 50,\n        "env": null,\n        "additional_envs": null,\n        "render": false,\n        "render_video": true,\n        "keep_all_videos": false,\n        "video_skip": 5,\n        "rollout": {\n            "enabled": true,\n            "n": 50,\n            "horizon": 800,\n            "rate": 20,\n            "warmstart": 0,\n            "terminate_on_success": true\n        }\n    },\n    "train": {\n        "data": "/home/idm/Documents/mimicgen/mimicgen_environments/mimicgen_envs/../datasets/core/coffee_preparation_d0.hdf5",\n        "output_dir": "/home/idm/Documents/mimicgen/mimicgen_environments/mimicgen_envs/../training_results/core/coffee_preparation_d0/image/trained_models",\n        "num_data_workers": 2,\n        "hdf5_cache_mode": "low_dim",\n        "hdf5_use_swmr": true,\n        "hdf5_load_next_obs": false,\n        "hdf5_normalize_obs": false,\n        "hdf5_filter_key": null,\n        "hdf5_validation_filter_key": null,\n        "seq_length": 10,\n        "pad_seq_length": true,\n        "frame_stack": 1,\n        "pad_frame_stack": true,\n        "dataset_keys": [\n            "actions",\n            "rewards",\n            "dones"\n        ],\n        "goal_mode": null,\n        "cuda": true,\n        "batch_size": 128,\n        "num_epochs": 600,\n        "seed": 1\n    },\n    "algo": {\n        "optim_params": {\n            "policy": {\n                "optimizer_type": "adam",\n                "learning_rate": {\n                    "initial": 0.0001,\n                    "decay_factor": 0.1,\n                    "epoch_schedule": [],\n                    "scheduler_type": "multistep"\n                },\n                "regularization": {\n                    "L2": 0.0\n                }\n            }\n        },\n        "loss": {\n            "l2_weight": 1.0,\n            "l1_weight": 0.0,\n            "cos_weight": 0.0\n        },\n        "actor_layer_dims": [],\n        "gaussian": {\n            "enabled": false,\n            "fixed_std": false,\n            "init_std": 0.1,\n            "min_std": 0.01,\n            "std_activation": "softplus",\n            "low_noise_eval": true\n        },\n        "gmm": {\n            "enabled": true,\n            "num_modes": 5,\n            "min_std": 0.0001,\n            "std_activation": "softplus",\n            "low_noise_eval": true\n        },\n        "vae": {\n            "enabled": false,\n            "latent_dim": 14,\n            "latent_clip": null,\n            "kl_weight": 1.0,\n            "decoder": {\n                "is_conditioned": true,\n                "reconstruction_sum_across_elements": false\n            },\n            "prior": {\n                "learn": false,\n                "is_conditioned": false,\n                "use_gmm": false,\n                "gmm_num_modes": 10,\n                "gmm_learn_weights": false,\n                "use_categorical": false,\n                "categorical_dim": 10,\n                "categorical_gumbel_softmax_hard": false,\n                "categorical_init_temp": 1.0,\n                "categorical_temp_anneal_step": 0.001,\n                "categorical_min_temp": 0.3\n            },\n            "encoder_layer_dims": [\n                300,\n                400\n            ],\n            "decoder_layer_dims": [\n                300,\n                400\n            ],\n            "prior_layer_dims": [\n                300,\n                400\n            ]\n        },\n        "rnn": {\n            "enabled": true,\n            "horizon": 10,\n            "hidden_dim": 1000,\n            "rnn_type": "LSTM",\n            "num_layers": 2,\n            "open_loop": false,\n            "kwargs": {\n                "bidirectional": false\n            }\n        },\n        "transformer": {\n            "enabled": false,\n            "context_length": 10,\n            "embed_dim": 512,\n            "num_layers": 6,\n            "num_heads": 8,\n            "emb_dropout": 0.1,\n            "attn_dropout": 0.1,\n            "block_output_dropout": 0.1,\n            "sinusoidal_embedding": false,\n            "activation": "gelu",\n            "supervise_all_steps": false,\n            "nn_parameter_for_timesteps": true\n        }\n    },\n    "observation": {\n        "modalities": {\n            "obs": {\n                "low_dim": [\n                    "robot0_eef_pos",\n                    "robot0_eef_quat",\n                    "robot0_gripper_qpos"\n                ],\n                "rgb": [\n                    "agentview_image",\n                    "robot0_eye_in_hand_image"\n                ],\n                "depth": [],\n                "scan": []\n            },\n            "goal": {\n                "low_dim": [],\n                "rgb": [],\n                "depth": [],\n                "scan": []\n            }\n        },\n        "encoder": {\n            "low_dim": {\n                "core_class": null,\n                "core_kwargs": {},\n                "obs_randomizer_class": null,\n                "obs_randomizer_kwargs": {}\n            },\n            "rgb": {\n                "core_class": "VisualCore",\n                "core_kwargs": {\n                    "feature_dimension": 64,\n                    "backbone_class": "ResNet18Conv",\n                    "backbone_kwargs": {\n                        "pretrained": false,\n                        "input_coord_conv": false\n                    },\n                    "pool_class": "SpatialSoftmax",\n                    "pool_kwargs": {\n                        "num_kp": 32,\n                        "learnable_temperature": false,\n                        "temperature": 1.0,\n                        "noise_std": 0.0\n                    }\n                },\n                "obs_randomizer_class": "CropRandomizer",\n                "obs_randomizer_kwargs": {\n                    "crop_height": 76,\n                    "crop_width": 76,\n                    "num_crops": 1,\n                    "pos_enc": false\n                }\n            },\n            "depth": {\n                "core_class": "VisualCore",\n                "core_kwargs": {},\n                "obs_randomizer_class": null,\n                "obs_randomizer_kwargs": {}\n            },\n            "scan": {\n                "core_class": "ScanCore",\n                "core_kwargs": {},\n                "obs_randomizer_class": null,\n                "obs_randomizer_kwargs": {}\n            }\n        }\n    },\n    "meta": {\n        "hp_base_config_file": null,\n        "hp_keys": [],\n        "hp_values": []\n    }\n}'

env_meta内容如下，来源于训练数据中的env_args：

{'env_name': 'CoffeePreparation_D0', 'env_version': '1.4.1', 'type': 1, 'env_kwargs': {'has_renderer': False, 'has_offscreen_renderer': True, 'ignore_done': True, 'use_object_obs': True, 'use_camera_obs': True, 'control_freq': 20, 'controller_configs': {'type': 'OSC_POSE', 'input_max': 1, 'input_min': -1, 'output_max': [0.05, 0.05, 0.05, 0.5, 0.5, 0.5], 'output_min': [-0.05, -0.05, -0.05, -0.5, -0.5, -0.5], 'kp': 150, 'damping': 1, 'impedance_mode': 'fixed', 'kp_limits': [0, 300], 'damping_limits': [0, 10], 'position_limits': None, 'orientation_limits': None, 'uncouple_pos_ori': True, 'control_delta': True, 'interpolation': None, 'ramp_ratio': 0.2}, 'robots': ['Panda'], 'camera_depths': False, 'camera_heights': 84, 'camera_widths': 84, 'render_gpu_device_id': 0, 'reward_shaping': False, 'camera_names': ['agentview', 'robot0_eye_in_hand']}}

shape_meta 主要表示大小，详细内容如下：

ipdb> ckpt_dict['shape_metadata']
{'ac_dim': 7, 'all_shapes': OrderedDict([('agentview_image', [3, 84, 84]), ('robot0_eef_pos', [3]), ('robot0_eef_quat', [4]), ('robot0_eye_in_hand_image', [3, 84, 84]), ('robot0_gripper_qpos', [2])]), 'all_obs_keys': ['agentview_image', 'robot0_eef_pos', 'robot0_eef_quat', 'robot0_eye_in_hand_image', 'robot0_gripper_qpos'], 'use_images': True}

场景修改

阶段一：能实现在现有简单场景中，添加标准几何物体

在这里插入图片描述
在这里插入图片描述
在这里插入图片描述

阶段二：可修改现有场景中的配置文件xml
阶段三：搭建新的场景

在这里插入图片描述

琼筵醉月
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ResNet（Residual Network）是一种深度神经网络架构，由微软研究院的Kaiming He等人在2015年提出，并且在ILSVRC 2015竞赛中取得了很好的成绩。ResNet主要解决了随着网络深度增加而出现的退化问题，即当网络变得非常深时，训练误差和验证误差可能会开始上升，这并不是因为过拟合，而是由于深层网络难以优化。ResNet的核心思想是引入了残差学习框架来简化许多层网络的训练。通过构建“跳跃连接”或称“捷径连接”，允许一层直接与更深层相连接。
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weixin_42605076的博客
10-01 722
基于深度学习的持续知识积累与转移是指利用深度学习技术在多个任务或领域中有效地获取、更新和应用知识。这一过程能够提高模型在新任务上的性能，同时减少对大量标注数据的依赖。
卷积神经网络（Convolutional Neural Networks, CNN）
qq_34376868的博客
10-02 1426
卷积神经网络（Convolutional Neural Networks, CNN）是深度学习领域中用于处理具有网格结构的输入（如图像和视频）的神经网络模型。
李宏毅深度学习-自注意力机制
m0_51448653的博客
10-06 895
在图像识别的时候，假设输入的图像大小都是一样的。但如果问题变得复杂，如图6.2所示，输入是一组向量，并且输入的向量的数量是会改变的，即每次模型输入的序列长度都不一样，这个时候应该要怎么处理呢？我们通过具体的例子来讲解处理方法。第一个例子是，假设网络的输入是一个句子，每一个句子的长度都不一样（每个句子里面词汇的数量都不一样）。如果把一个句子里面的每一个词汇都描述成一个向量，用向量来表示，模型的输入就是一个向量序列，而且该向量序列的大小每次都不一样（句子的长度不一样，向量序列的大小就不一样）。
【PyTorch】循环神经网络
Glass_Gun的博客
09-29 656
神经网络。
机器学习和深度学习的区别
dhdjjfhdghh的博客
09-26 1813
深度学习是机器学习的一个子集，它基于人工神经网络的概念，特别是那些具有多个非线性变换的层（即深度）。深度学习模型能够自动从原始数据中提取复杂的特征，而无需人为干预。层次结构：深度学习模型由多个层次的神经元组成，每一层都对输入数据进行转换和抽象，从而捕捉数据的复杂特征。自动特征提取：与传统机器学习方法相比，深度学习能够自动从原始数据中学习特征，减少了对人工特征工程的依赖。计算密集型：深度学习模型通常需要大量的计算资源，包括高性能的GPU，以训练大规模的数据集和复杂的模型结构。代表性模型。
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