paper visualization

.gitignore

@@ -33,4 +33,6 @@ lerobot_test/
 **/lerobot_test/
 **/lerobot_test/**
 **/robot/models/**
-**/robot/models/
+**/robot/models/
+*parquet*
+*.zarr*

egomimic/hydra_configs/data/clothe_eva_aria_mecka.yaml

@@ -0,0 +1,70 @@
+train_datasets:
+  dataset1:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: eva_bimanual
+    filters:
+      task: fold clothes
+    local_files_only: true
+  indomain:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold_clothes_indomain
+    local_files_only: true
+  everse_rl2:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: rl2
+      operator: rl2
+    local_files_only: true
+  everse_song:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: song
+    local_files_only: true
+  everse_wang:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: wang
+    local_files_only: true
+  everse_eth:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: eth
+    local_files_only: true
+  mecka_flagship:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: mecka_bimanual
+    filters:
+      task: fold_clothes
+    local_files_only: true
+  mecka_freeform:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: mecka_bimanual
+    filters:
+      task: folding_clothes
+    local_files_only: true

egomimic/hydra_configs/data/mecka_test.yaml

@@ -3,19 +3,19 @@ _target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper
 train_datasets:
   dataset1:
     _target_: rldb.utils.RLDBDataset
-    repo_id: "mecka_test"
+    repo_id: "aria_bimanual"
     mode: train
-    embodiment: "mecka_bimanual"
-    root: "/coc/flash7/acheluva3/EgoVerse/mecka_demo"
+    embodiment: "aria_bimanual"
+    root: "/nethome/paphiwetsa3/flash/projects/EgoVerse/datasets"
     local_files_only: True
 
 valid_datasets:
   dataset1:
     _target_: rldb.utils.RLDBDataset
-    repo_id: "mecka_test"
+    repo_id: "aria_bimanual"
     mode: valid
-    embodiment: "mecka_bimanual"
-    root: "/coc/flash7/acheluva3/EgoVerse/mecka_demo"
+    embodiment: "aria_bimanual"
+    root: "/nethome/paphiwetsa3/flash/projects/EgoVerse/datasets"
     local_files_only: True
 
 train_dataloader_params:
@@ -26,4 +26,4 @@ train_dataloader_params:
 valid_dataloader_params:
   dataset1:
     batch_size: 32
-    num_workers: 10
+    num_workers: 10

egomimic/hydra_configs/data/test_bimanual.yaml

@@ -5,7 +5,7 @@ train_datasets:
     datasets:
       rl2_lab:
         _target_: rldb.utils.FolderRLDBDataset
-        folder_path: /coc/cedarp-dxu345-0/datasets/egoverse/put_cup_on_saucer_egoverse/put_cup_on_saucer_rl2
+        folder_path: /nethome/paphiwetsa3/flash/projects/EgoVerse/datasets
         embodiment: aria_bimanual
         mode: train
         local_files_only: true
@@ -17,8 +17,7 @@ valid_datasets:
     datasets:
       eth_lab:
         _target_: rldb.utils.FolderRLDBDataset
-        folder_path: /coc/cedarp-dxu345-0/datasets/egoverse/put_cup_on_saucer_egoverse/put_cup_on_saucer_song
-        embodiment: aria_bimanual
+        folder_path: /nethome/paphiwetsa3/flash/projects/EgoVerse/datasets
         mode: valid
         local_files_only: true
     embodiment: "aria_bimanual"
@@ -31,4 +30,4 @@ train_dataloader_params:
 valid_dataloader_params:
   dataset1:
     batch_size: 2
-    num_workers: 10
+    num_workers: 10

egomimic/hydra_configs/data/viz_data.yaml

@@ -0,0 +1,64 @@
+_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper
+train_datasets:
+  dataset1:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: eva_bimanual
+    filters:
+      task: fold_clothes
+    local_files_only: true
+
+  dataset2:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold_clothes
+    local_files_only: true
+
+  # dataset3:
+  #   _target_: egomimic.rldb.utils.S3RLDBDataset
+  #   bucket_name: rldb
+  #   mode: total
+  #   valid_ratio: 0.5
+  #   embodiment: mecka_bimanual
+  #   cache_root: "/coc/flash7/rpunamiya6/.cache"
+  #   filters:
+  #     task: fold_clothes
+  #   local_files_only: true
+
+valid_datasets:
+  dataset1:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: eva_bimanual
+    filters:
+      task: fold clothes
+    local_files_only: true
+  dataset2:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold_clothes_indomain
+    local_files_only: true
+
+train_dataloader_params:
+  dataset1:
+    batch_size: 256
+    num_workers: 10
+  dataset2:
+    batch_size: 256
+    num_workers: 10
+
+valid_dataloader_params:
+  dataset1:
+    batch_size: 256
+    num_workers: 10
+  dataset2:
+    batch_size: 256
+    num_workers: 10

egomimic/hydra_configs/data/viz_data2.yaml

@@ -0,0 +1,54 @@
+train_datasets:
+  dataset1:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: eva_bimanual
+    filters:
+      task: fold clothes
+    local_files_only: true
+  indomain:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold_clothes_indomain
+    local_files_only: true
+  everse_rl2:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: rl2
+      operator: rl2
+    local_files_only: true
+  everse_song:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: song
+    local_files_only: true
+  everse_wang:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: wang
+    local_files_only: true
+  everse_eth:
+    _target_: egomimic.rldb.utils.S3RLDBDataset
+    bucket_name: rldb
+    mode: total
+    embodiment: aria_bimanual
+    filters:
+      task: fold clothes
+      lab: eth
+    local_files_only: true

egomimic/hydra_configs/train.yaml

@@ -1,10 +1,10 @@
 defaults:
-  - model: hpt_bc_flow_eva
+  - model: hpt_bc_flow_aria
   - paths: default
   - trainer: ddp
   - debug: null
   - logger: wandb
-  - data: eva_bc_s3
+  - data: mecka_test
   - callbacks: checkpoints
   - override hydra/launcher: submitit
   - _self_
@@ -16,7 +16,7 @@ train: true
 eval: false
 
 eval_class:
-  _target_ : egomimic.scripts.evaluation.Eve
+  _target_: egomimic.scripts.evaluation.Eve
   mode: real
   arm: both
   eval_path: "./logs/eval/${name}_${now:%Y-%m-%d_%H-%M-%S}"
@@ -93,10 +93,7 @@ data_schematic: # Dynamically fill in these shapes from the dataset
       embodiment:
         key_type: metadata_keys
         lerobot_key: metadata.embodiment
-  viz_img_key: 
-    eva_bimanual:
-      front_img_1
-    aria_bimanual:
-      front_img_1
-    mecka_bimanual:
-      front_img_1
+  viz_img_key:
+    eva_bimanual: front_img_1
+    aria_bimanual: front_img_1
+    mecka_bimanual: front_img_1