训练

下载数据集

python robomimic/scripts/download_datasets.py --tasks lift --dataset_types ph --hdf5_types low_dim --download_dir ./datasets

python robomimic/scripts/get_dataset_info.py --dataset ./datasets/lift/ph/low_dim_v15.hdf5

拷贝cnofig

mkdir -p configs
cp robomimic/exps/templates/diffusion_policy.json \
   configs/lift_diffusion_policy.json

train

python robomimic/scripts/train.py --config configs/lift_diffusion_policy.json --dataset ./datasets/lift/ph/low_dim_v15.hdf5 --debug
python robomimic/scripts/train.py --config configs/lift_diffusion_policy.json --dataset ./datasets/lift/ph/low_dim_v15.hdf5

日志

tensorboard --logdir diffusion_policy_trained_models/test --bind_all --port 6006

评估

python robomimic/scripts/run_trained_agent.py --agent /path/to/model.pth --n_rollouts 50 --horizon 400 --video_path /tmp/result.mp4 --camera_names agentview robot0_eye_in_hand