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hpt configs #188

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1 change: 1 addition & 0 deletions egomimic/hydra_configs/data/__init__.py
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34 changes: 34 additions & 0 deletions egomimic/hydra_configs/data/mecka_all.yaml
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_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper


train_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: "rldb"
mode: train
local_mode: true
sample_percent: 0.1
filters:
lab: "mecka"
embodiment: "mecka_bimanual"

valid_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: "rldb"
mode: valid
local_mode: true
sample_percent: 0.1
filters:
lab: "mecka"
embodiment: "mecka_bimanual"

train_dataloader_params:
dataset1:
batch_size: 32
num_workers: 8

valid_dataloader_params:
dataset1:
batch_size: 32
num_workers: 8
77 changes: 77 additions & 0 deletions egomimic/hydra_configs/data/mecka_all_zarr.yaml
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_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper
train_datasets:
mecka_bimanual:
_target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver
resolver:
_target_: egomimic.rldb.zarr.zarr_dataset_multi.LocalEpisodeResolver
folder_path: /coc/flash7/scratch/egoverseS3ZarrDataset/
key_map:
observations.images.front_img_1: #batch key
key_type: camera_keys # key type
zarr_key: images.front_1
right.action_ee_pose:
key_type: action_keys
zarr_key: right.obs_ee_pose
horizon: 30
left.action_ee_pose:
key_type: action_keys
zarr_key: left.obs_ee_pose
horizon: 30
right.obs_ee_pose:
key_type: proprio_keys
zarr_key: right.obs_ee_pose
left.obs_ee_pose:
key_type: proprio_keys
zarr_key: left.obs_ee_pose
obs_head_pose:
zarr_key: obs_head_pose
key_type: proprio_keys
transform_list:
_target_: egomimic.rldb.embodiment.human._build_aria_bimanual_transform_list
stride: 1
# filters:
# episode_hash: ${eval:'__import__("egomimic.hydra_configs.data.parse", fromlist=["episode_hashes_from_sample"]).episode_hashes_from_sample()'}
# episode_hash: ["696a1e7a03b3bab4cd3d4ff9", "696b94c5c25b828c83107b3f"]
mode: train
valid_datasets:
mecka_bimanual:
_target_: egomimic.rldb.zarr.zarr_dataset_multi.MultiDataset._from_resolver
resolver:
_target_: egomimic.rldb.zarr.zarr_dataset_multi.LocalEpisodeResolver
folder_path: /coc/flash7/scratch/egoverseS3ZarrDataset/
key_map:
observations.images.front_img_1: #batch key
key_type: camera_keys # key type
zarr_key: images.front_1
right.action_ee_pose:
key_type: action_keys
zarr_key: right.obs_ee_pose
horizon: 30
left.action_ee_pose:
key_type: action_keys
zarr_key: left.obs_ee_pose
horizon: 30
right.obs_ee_pose:
key_type: proprio_keys
zarr_key: right.obs_ee_pose
left.obs_ee_pose:
key_type: proprio_keys
zarr_key: left.obs_ee_pose
obs_head_pose:
zarr_key: obs_head_pose
key_type: proprio_keys
transform_list:
_target_: egomimic.rldb.embodiment.human._build_aria_bimanual_transform_list
stride: 1
# filters:
# episode_hash: ${eval:'__import__("egomimic.hydra_configs.data.parse", fromlist=["episode_hashes_from_sample"]).episode_hashes_from_sample()'}
# episode_hash: ["696a1e7a03b3bab4cd3d4ff9", "696b94c5c25b828c83107b3f"]
mode: valid
train_dataloader_params:
mecka_bimanual:
batch_size: 32
num_workers: 10
valid_dataloader_params:
mecka_bimanual:
batch_size: 32
num_workers: 10
50 changes: 50 additions & 0 deletions egomimic/hydra_configs/data/mecka_cotrain.yaml
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_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper

train_datasets:
# dataset1:
# _target_: egomimic.rldb.utils.S3RLDBDataset
# bucket_name: "rldb"
# embodiment: "mecka_bimanual"
# mode: train
# filters:
# task: "potting_soil"
# local_files_only: True
dataset2:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: "rldb"
embodiment: "aria_right_arm"
mode: train
filters:
task: "object in container"
lab: "song"
local_files_only: True

valid_datasets:
# dataset1:
# _target_: egomimic.rldb.utils.S3RLDBDataset
# bucket_name: "rldb"
# embodiment: "mecka_bimanual"
# mode: valid
# filters:
# task: "potting_soil"
# local_files_only: True
dataset2:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: "rldb"
embodiment: "aria_right_arm"
mode: valid
filters:
task: "object in container"
lab: "song"
local_files_only: True


train_dataloader_params:
dataset1:
batch_size: 32
num_workers: 10

valid_dataloader_params:
dataset1:
batch_size: 32
num_workers: 10
71 changes: 71 additions & 0 deletions egomimic/hydra_configs/data/mecka_flagship.yaml
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_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper
train_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: train
embodiment: eva_bimanual
filters:
task: fold_clothes
local_files_only: true
dataset2:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: train
embodiment: aria_bimanual
filters:
task: fold_clothes_indomain
local_files_only: true
dataset3:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: train
embodiment: mecka_bimanual
filters:
task: fold_clothes
local_files_only: true
valid_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: valid
embodiment: eva_bimanual
filters:
task: fold_clothes
local_files_only: true
dataset2:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: valid
embodiment: aria_bimanual
filters:
task: fold_clothes_indomain
local_files_only: true
dataset3:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: valid
embodiment: mecka_bimanual
filters:
task: fold_clothes
local_files_only: true
train_dataloader_params:
dataset1:
batch_size: 8
num_workers: 10
dataset2:
batch_size: 6
num_workers: 10
dataset3:
batch_size: 12
num_workers: 10
valid_dataloader_params:
dataset1:
batch_size: 8
num_workers: 10
dataset2:
batch_size: 6
num_workers: 10
dataset3:
batch_size: 12
num_workers: 10
95 changes: 95 additions & 0 deletions egomimic/hydra_configs/data/mecka_flagship_freeform.yaml
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_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper
train_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: train
embodiment: eva_bimanual
filters:
task: fold_clothes
local_files_only: true
dataset2:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: train
embodiment: aria_bimanual
filters:
task: fold_clothes_indomain
local_files_only: true
dataset3:
_target_: egomimic.rldb.utils.MultiRLDBDataset
datasets:
flagship:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: train
embodiment: mecka_bimanual
filters:
task: fold_clothes
local_files_only: true
freeform:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: train
embodiment: mecka_bimanual
filters:
task: folding_clothes
local_files_only: true
embodiment: mecka_bimanual
valid_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: valid
embodiment: eva_bimanual
filters:
task: fold_clothes
local_files_only: true
dataset2:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: valid
embodiment: aria_bimanual
filters:
task: fold_clothes_indomain
local_files_only: true
dataset3:
_target_: egomimic.rldb.utils.MultiRLDBDataset
datasets:
flagship:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: valid
embodiment: mecka_bimanual
filters:
task: fold_clothes
local_files_only: true
freeform:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: rldb
mode: valid
embodiment: mecka_bimanual
filters:
task: folding_clothes
local_files_only: true
embodiment: mecka_bimanual
train_dataloader_params:
dataset1:
batch_size: 8
num_workers: 10
dataset2:
batch_size: 6
num_workers: 10
dataset3:
batch_size: 12
num_workers: 10
valid_dataloader_params:
dataset1:
batch_size: 8
num_workers: 10
dataset2:
batch_size: 6
num_workers: 10
dataset3:
batch_size: 12
num_workers: 10
36 changes: 36 additions & 0 deletions egomimic/hydra_configs/data/mecka_human_fold_clothes.yaml
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_target_: egomimic.pl_utils.pl_data_utils.MultiDataModuleWrapper

train_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: "rldb"
main_prefix: "mecka"
mode: train
embodiment: "mecka_bimanual"
temp_root: "/coc/flash7/scratch/egoverseS3Dataset"
filters:
lab: "mecka"
task: "fold_clothes"
local_files_only: True

valid_datasets:
dataset1:
_target_: egomimic.rldb.utils.S3RLDBDataset
bucket_name: "rldb"
mode: valid
embodiment: "mecka_bimanual"
temp_root: "/coc/flash7/scratch/egoverseS3Dataset"
filters:
lab: "mecka"
task: "fold_clothes"
local_files_only: True

train_dataloader_params:
dataset1:
batch_size: 64
num_workers: 10

valid_dataloader_params:
dataset1:
batch_size: 64
num_workers: 10
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