diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..518624b --- /dev/null +++ b/.gitattributes @@ -0,0 +1 @@ +*.data* filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md index 08e8e5b..c9c725d 100644 --- a/README.md +++ b/README.md @@ -34,6 +34,14 @@ cd robotics_transformer bazel test ... ``` +### Using trained checkpoints +Checkpoints are included in trained_checkpoints/ folder for three models: +1. RT-1 trained on 700 tasks +2. RT-1 jointly trained on EDR and Kuka data +3. RT-1 jointly trained on sim and real data +They are tensorflow SavedModel files. Instructions on usage can be found (here)[https://www.tensorflow.org/guide/saved_model] + + ## Future Releases The current repository includes an initial set of libraries for early adoption. diff --git a/trained_checkpoints/rt1main/assets/metadata.textproto b/trained_checkpoints/rt1main/assets/metadata.textproto new file mode 100644 index 0000000..4810a15 --- /dev/null +++ b/trained_checkpoints/rt1main/assets/metadata.textproto @@ -0,0 +1,2 @@ +xmanager_id: 47030250 +xmanager_wid: 1 diff --git a/trained_checkpoints/rt1main/checkpoint b/trained_checkpoints/rt1main/checkpoint new file mode 100644 index 0000000..a0bbf21 --- /dev/null +++ b/trained_checkpoints/rt1main/checkpoint @@ -0,0 +1,2 @@ +model_checkpoint_path: "/cns/tp-d/home/kanishkarao-brain/kanishkarao/rs=6.3:sl=48M/ttl=12w:gc=0/xm_fractal_experiment_47030250/1/train/policy/000424760/ckpt-424760" +all_model_checkpoint_paths: "/cns/tp-d/home/kanishkarao-brain/kanishkarao/rs=6.3:sl=48M/ttl=12w:gc=0/xm_fractal_experiment_47030250/1/train/policy/000424760/ckpt-424760" diff --git a/trained_checkpoints/rt1main/ckpt-424760.data-00000-of-00001 b/trained_checkpoints/rt1main/ckpt-424760.data-00000-of-00001 new file mode 100644 index 0000000..fa95c84 --- /dev/null +++ b/trained_checkpoints/rt1main/ckpt-424760.data-00000-of-00001 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd750aa778cff1516e0e305b09f0b1405e134e127b00645001e749a834962152 +size 423721772 diff --git a/trained_checkpoints/rt1main/ckpt-424760.index b/trained_checkpoints/rt1main/ckpt-424760.index new file mode 100644 index 0000000..c135354 Binary files /dev/null and b/trained_checkpoints/rt1main/ckpt-424760.index differ diff --git a/trained_checkpoints/rt1main/fingerprint.pb b/trained_checkpoints/rt1main/fingerprint.pb new file mode 100644 index 0000000..10a130c Binary files /dev/null and b/trained_checkpoints/rt1main/fingerprint.pb differ diff --git a/trained_checkpoints/rt1main/policy_specs.pbtxt b/trained_checkpoints/rt1main/policy_specs.pbtxt new file mode 100644 index 0000000..f396f96 --- /dev/null +++ b/trained_checkpoints/rt1main/policy_specs.pbtxt @@ -0,0 +1,596 @@ +dict_value { + fields { + key: "collect_data_spec" + value { + named_tuple_value { + name: "Trajectory" + values { + key: "step_type" + value { + tensor_spec_value { + name: "step_type" + shape { + } + dtype: DT_INT32 + } + } + } + values { + key: "observation" + value { + dict_value { + fields { + key: "base_pose_tool_reached" + value { + tensor_spec_value { + name: "base_pose_tool_reached" + shape { + dim { + size: 7 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "gripper_closed" + value { + tensor_spec_value { + name: "gripper_closed" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "gripper_closedness_commanded" + value { + tensor_spec_value { + name: "gripper_closedness_commanded" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "height_to_bottom" + value { + tensor_spec_value { + name: "height_to_bottom" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "image" + value { + tensor_spec_value { + name: "image" + shape { + dim { + size: 256 + } + dim { + size: 320 + } + dim { + size: 3 + } + } + dtype: DT_UINT8 + } + } + } + fields { + key: "natural_language_embedding" + value { + tensor_spec_value { + name: "natural_language_embedding" + shape { + dim { + size: 512 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "natural_language_instruction" + value { + tensor_spec_value { + name: "natural_language_instruction" + shape { + } + dtype: DT_STRING + } + } + } + fields { + key: "orientation_box" + value { + tensor_spec_value { + name: "orientation_box" + shape { + dim { + size: 2 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "orientation_start" + value { + tensor_spec_value { + name: "orientation_in_camera_space" + shape { + dim { + size: 4 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "robot_orientation_positions_box" + value { + tensor_spec_value { + name: "robot_orientation_positions_box" + shape { + dim { + size: 3 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "rotation_delta_to_go" + value { + tensor_spec_value { + name: "rotation_delta_to_go" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "src_rotation" + value { + tensor_spec_value { + name: "transform_camera_robot" + shape { + dim { + size: 4 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "vector_to_go" + value { + tensor_spec_value { + name: "vector_to_go" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "workspace_bounds" + value { + tensor_spec_value { + name: "workspace_bounds" + shape { + dim { + size: 3 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + } + } + } + values { + key: "action" + value { + dict_value { + fields { + key: "base_displacement_vector" + value { + bounded_tensor_spec_value { + name: "base_displacement_vector" + shape { + dim { + size: 2 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + fields { + key: "base_displacement_vertical_rotation" + value { + bounded_tensor_spec_value { + name: "base_displacement_vertical_rotation" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -3.1415927 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 3.1415927 + } + } + } + } + fields { + key: "gripper_closedness_action" + value { + bounded_tensor_spec_value { + name: "gripper_closedness_action" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + fields { + key: "rotation_delta" + value { + bounded_tensor_spec_value { + name: "rotation_delta" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.5707964 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.5707964 + } + } + } + } + fields { + key: "terminate_episode" + value { + bounded_tensor_spec_value { + name: "terminate_episode" + shape { + dim { + size: 3 + } + } + dtype: DT_INT32 + minimum { + dtype: DT_INT32 + tensor_shape { + } + int_val: 0 + } + maximum { + dtype: DT_INT32 + tensor_shape { + } + int_val: 1 + } + } + } + } + fields { + key: "world_vector" + value { + bounded_tensor_spec_value { + name: "world_vector" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + } + } + } + values { + key: "policy_info" + value { + dict_value { + fields { + key: "discounted_return" + value { + bounded_tensor_spec_value { + name: "discounted_return" + shape { + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 0.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + fields { + key: "return" + value { + bounded_tensor_spec_value { + name: "return" + shape { + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 0.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + } + } + } + values { + key: "next_step_type" + value { + tensor_spec_value { + name: "step_type" + shape { + } + dtype: DT_INT32 + } + } + } + values { + key: "reward" + value { + tensor_spec_value { + name: "reward" + shape { + } + dtype: DT_FLOAT + } + } + } + values { + key: "discount" + value { + bounded_tensor_spec_value { + name: "discount" + shape { + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 0.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + } + } + } + fields { + key: "policy_state_spec" + value { + dict_value { + fields { + key: "action_tokens" + value { + tensor_spec_value { + name: "action_tokens" + shape { + dim { + size: 6 + } + dim { + size: 11 + } + dim { + size: 1 + } + dim { + size: 1 + } + } + dtype: DT_INT32 + } + } + } + fields { + key: "image" + value { + tensor_spec_value { + name: "image" + shape { + dim { + size: 6 + } + dim { + size: 256 + } + dim { + size: 320 + } + dim { + size: 3 + } + } + dtype: DT_UINT8 + } + } + } + fields { + key: "step_num" + value { + tensor_spec_value { + name: "step_num" + shape { + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + } + dtype: DT_INT32 + } + } + } + fields { + key: "t" + value { + tensor_spec_value { + name: "t" + shape { + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + } + dtype: DT_INT32 + } + } + } + } + } + } +} diff --git a/trained_checkpoints/rt1main/saved_model.pb b/trained_checkpoints/rt1main/saved_model.pb new file mode 100644 index 0000000..46483d0 Binary files /dev/null and b/trained_checkpoints/rt1main/saved_model.pb differ diff --git a/trained_checkpoints/rt1main/variables/variables.data-00000-of-00001 b/trained_checkpoints/rt1main/variables/variables.data-00000-of-00001 new file mode 100644 index 0000000..16f219e --- /dev/null +++ b/trained_checkpoints/rt1main/variables/variables.data-00000-of-00001 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b84cc6e6a0bb9309c7250289b6a7f469d9e582863593966f3cfab008ac859509 +size 141841691 diff --git a/trained_checkpoints/rt1main/variables/variables.index b/trained_checkpoints/rt1main/variables/variables.index new file mode 100644 index 0000000..45cbcf1 Binary files /dev/null and b/trained_checkpoints/rt1main/variables/variables.index differ diff --git a/trained_checkpoints/rt1multirobot/assets/metadata.textproto b/trained_checkpoints/rt1multirobot/assets/metadata.textproto new file mode 100644 index 0000000..21a2853 --- /dev/null +++ b/trained_checkpoints/rt1multirobot/assets/metadata.textproto @@ -0,0 +1,2 @@ +xmanager_id: 46830388 +xmanager_wid: 1 diff --git a/trained_checkpoints/rt1multirobot/checkpoint b/trained_checkpoints/rt1multirobot/checkpoint new file mode 100644 index 0000000..34208a7 --- /dev/null +++ b/trained_checkpoints/rt1multirobot/checkpoint @@ -0,0 +1,2 @@ +model_checkpoint_path: "/cns/tp-d/home/karolhausman-brain/karolhausman/rs=6.3:sl=48M/ttl=12w:gc=0/xm_fractal_experiment_46830388/1/train/policy/00589960/ckpt-589960" +all_model_checkpoint_paths: "/cns/tp-d/home/karolhausman-brain/karolhausman/rs=6.3:sl=48M/ttl=12w:gc=0/xm_fractal_experiment_46830388/1/train/policy/00589960/ckpt-589960" diff --git a/trained_checkpoints/rt1multirobot/ckpt-589960.data-00000-of-00001 b/trained_checkpoints/rt1multirobot/ckpt-589960.data-00000-of-00001 new file mode 100644 index 0000000..890bafc --- /dev/null +++ b/trained_checkpoints/rt1multirobot/ckpt-589960.data-00000-of-00001 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8889afb9202cc8df47e3e6ae81868ba8a0be71755676382d66b5d76eea61ea0c +size 536870913 diff --git a/trained_checkpoints/rt1multirobot/ckpt-589960.index b/trained_checkpoints/rt1multirobot/ckpt-589960.index new file mode 100644 index 0000000..a1288cd Binary files /dev/null and b/trained_checkpoints/rt1multirobot/ckpt-589960.index differ diff --git a/trained_checkpoints/rt1multirobot/fingerprint.pb b/trained_checkpoints/rt1multirobot/fingerprint.pb new file mode 100644 index 0000000..dcf2758 Binary files /dev/null and b/trained_checkpoints/rt1multirobot/fingerprint.pb differ diff --git a/trained_checkpoints/rt1multirobot/policy_specs.pbtxt b/trained_checkpoints/rt1multirobot/policy_specs.pbtxt new file mode 100644 index 0000000..f396f96 --- /dev/null +++ b/trained_checkpoints/rt1multirobot/policy_specs.pbtxt @@ -0,0 +1,596 @@ +dict_value { + fields { + key: "collect_data_spec" + value { + named_tuple_value { + name: "Trajectory" + values { + key: "step_type" + value { + tensor_spec_value { + name: "step_type" + shape { + } + dtype: DT_INT32 + } + } + } + values { + key: "observation" + value { + dict_value { + fields { + key: "base_pose_tool_reached" + value { + tensor_spec_value { + name: "base_pose_tool_reached" + shape { + dim { + size: 7 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "gripper_closed" + value { + tensor_spec_value { + name: "gripper_closed" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "gripper_closedness_commanded" + value { + tensor_spec_value { + name: "gripper_closedness_commanded" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "height_to_bottom" + value { + tensor_spec_value { + name: "height_to_bottom" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "image" + value { + tensor_spec_value { + name: "image" + shape { + dim { + size: 256 + } + dim { + size: 320 + } + dim { + size: 3 + } + } + dtype: DT_UINT8 + } + } + } + fields { + key: "natural_language_embedding" + value { + tensor_spec_value { + name: "natural_language_embedding" + shape { + dim { + size: 512 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "natural_language_instruction" + value { + tensor_spec_value { + name: "natural_language_instruction" + shape { + } + dtype: DT_STRING + } + } + } + fields { + key: "orientation_box" + value { + tensor_spec_value { + name: "orientation_box" + shape { + dim { + size: 2 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "orientation_start" + value { + tensor_spec_value { + name: "orientation_in_camera_space" + shape { + dim { + size: 4 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "robot_orientation_positions_box" + value { + tensor_spec_value { + name: "robot_orientation_positions_box" + shape { + dim { + size: 3 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "rotation_delta_to_go" + value { + tensor_spec_value { + name: "rotation_delta_to_go" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "src_rotation" + value { + tensor_spec_value { + name: "transform_camera_robot" + shape { + dim { + size: 4 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "vector_to_go" + value { + tensor_spec_value { + name: "vector_to_go" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "workspace_bounds" + value { + tensor_spec_value { + name: "workspace_bounds" + shape { + dim { + size: 3 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + } + } + } + values { + key: "action" + value { + dict_value { + fields { + key: "base_displacement_vector" + value { + bounded_tensor_spec_value { + name: "base_displacement_vector" + shape { + dim { + size: 2 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + fields { + key: "base_displacement_vertical_rotation" + value { + bounded_tensor_spec_value { + name: "base_displacement_vertical_rotation" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -3.1415927 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 3.1415927 + } + } + } + } + fields { + key: "gripper_closedness_action" + value { + bounded_tensor_spec_value { + name: "gripper_closedness_action" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + fields { + key: "rotation_delta" + value { + bounded_tensor_spec_value { + name: "rotation_delta" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.5707964 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.5707964 + } + } + } + } + fields { + key: "terminate_episode" + value { + bounded_tensor_spec_value { + name: "terminate_episode" + shape { + dim { + size: 3 + } + } + dtype: DT_INT32 + minimum { + dtype: DT_INT32 + tensor_shape { + } + int_val: 0 + } + maximum { + dtype: DT_INT32 + tensor_shape { + } + int_val: 1 + } + } + } + } + fields { + key: "world_vector" + value { + bounded_tensor_spec_value { + name: "world_vector" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: -1.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + } + } + } + values { + key: "policy_info" + value { + dict_value { + fields { + key: "discounted_return" + value { + bounded_tensor_spec_value { + name: "discounted_return" + shape { + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 0.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + fields { + key: "return" + value { + bounded_tensor_spec_value { + name: "return" + shape { + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 0.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + } + } + } + values { + key: "next_step_type" + value { + tensor_spec_value { + name: "step_type" + shape { + } + dtype: DT_INT32 + } + } + } + values { + key: "reward" + value { + tensor_spec_value { + name: "reward" + shape { + } + dtype: DT_FLOAT + } + } + } + values { + key: "discount" + value { + bounded_tensor_spec_value { + name: "discount" + shape { + } + dtype: DT_FLOAT + minimum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 0.0 + } + maximum { + dtype: DT_FLOAT + tensor_shape { + } + float_val: 1.0 + } + } + } + } + } + } + } + fields { + key: "policy_state_spec" + value { + dict_value { + fields { + key: "action_tokens" + value { + tensor_spec_value { + name: "action_tokens" + shape { + dim { + size: 6 + } + dim { + size: 11 + } + dim { + size: 1 + } + dim { + size: 1 + } + } + dtype: DT_INT32 + } + } + } + fields { + key: "image" + value { + tensor_spec_value { + name: "image" + shape { + dim { + size: 6 + } + dim { + size: 256 + } + dim { + size: 320 + } + dim { + size: 3 + } + } + dtype: DT_UINT8 + } + } + } + fields { + key: "step_num" + value { + tensor_spec_value { + name: "step_num" + shape { + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + } + dtype: DT_INT32 + } + } + } + fields { + key: "t" + value { + tensor_spec_value { + name: "t" + shape { + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + dim { + size: 1 + } + } + dtype: DT_INT32 + } + } + } + } + } + } +} diff --git a/trained_checkpoints/rt1multirobot/saved_model.pb b/trained_checkpoints/rt1multirobot/saved_model.pb new file mode 100644 index 0000000..6d3b466 Binary files /dev/null and b/trained_checkpoints/rt1multirobot/saved_model.pb differ diff --git a/trained_checkpoints/rt1multirobot/variables/variables.data-00000-of-00001 b/trained_checkpoints/rt1multirobot/variables/variables.data-00000-of-00001 new file mode 100644 index 0000000..e45eb9b --- /dev/null +++ b/trained_checkpoints/rt1multirobot/variables/variables.data-00000-of-00001 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7be366a7b2e881d5fdbf8ce5eb043719db02bf7734f64c6c88157a7d2e49ff6a +size 445582518 diff --git a/trained_checkpoints/rt1multirobot/variables/variables.index b/trained_checkpoints/rt1multirobot/variables/variables.index new file mode 100644 index 0000000..b8b6b8d Binary files /dev/null and b/trained_checkpoints/rt1multirobot/variables/variables.index differ diff --git a/trained_checkpoints/rt1simreal/assets/metadata.textproto b/trained_checkpoints/rt1simreal/assets/metadata.textproto new file mode 100644 index 0000000..0acda6b --- /dev/null +++ b/trained_checkpoints/rt1simreal/assets/metadata.textproto @@ -0,0 +1,2 @@ +xmanager_id: 45838476 +xmanager_wid: 1 diff --git a/trained_checkpoints/rt1simreal/checkpoint b/trained_checkpoints/rt1simreal/checkpoint new file mode 100644 index 0000000..d7bf3a8 --- /dev/null +++ b/trained_checkpoints/rt1simreal/checkpoint @@ -0,0 +1,2 @@ +model_checkpoint_path: "/cns/tp-d/home/tedxiao-brain/tedxiao/rs=6.3:sl=48M/ttl=12w:gc=0/paper_simreal_0817data_100sim_1v2_experiment_45838476/1/train/policy/000660240/ckpt-660240" +all_model_checkpoint_paths: "/cns/tp-d/home/tedxiao-brain/tedxiao/rs=6.3:sl=48M/ttl=12w:gc=0/paper_simreal_0817data_100sim_1v2_experiment_45838476/1/train/policy/000660240/ckpt-660240" diff --git a/trained_checkpoints/rt1simreal/ckpt-660240.data-00000-of-00001 b/trained_checkpoints/rt1simreal/ckpt-660240.data-00000-of-00001 new file mode 100644 index 0000000..cf5d77a --- /dev/null +++ b/trained_checkpoints/rt1simreal/ckpt-660240.data-00000-of-00001 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eac726405d79901edbb30e44e64fe4a387e9cbf8f348b240d34bacf6f9f5da9c +size 423721719 diff --git a/trained_checkpoints/rt1simreal/ckpt-660240.index b/trained_checkpoints/rt1simreal/ckpt-660240.index new file mode 100644 index 0000000..1601464 Binary files /dev/null and b/trained_checkpoints/rt1simreal/ckpt-660240.index differ diff --git a/trained_checkpoints/rt1simreal/fingerprint.pb b/trained_checkpoints/rt1simreal/fingerprint.pb new file mode 100644 index 0000000..fd6df8b Binary files /dev/null and b/trained_checkpoints/rt1simreal/fingerprint.pb differ diff --git a/trained_checkpoints/rt1simreal/policy_specs.pbtxt b/trained_checkpoints/rt1simreal/policy_specs.pbtxt new file mode 100644 index 0000000..f396f96 --- /dev/null +++ b/trained_checkpoints/rt1simreal/policy_specs.pbtxt @@ -0,0 +1,596 @@ +dict_value { + fields { + key: "collect_data_spec" + value { + named_tuple_value { + name: "Trajectory" + values { + key: "step_type" + value { + tensor_spec_value { + name: "step_type" + shape { + } + dtype: DT_INT32 + } + } + } + values { + key: "observation" + value { + dict_value { + fields { + key: "base_pose_tool_reached" + value { + tensor_spec_value { + name: "base_pose_tool_reached" + shape { + dim { + size: 7 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "gripper_closed" + value { + tensor_spec_value { + name: "gripper_closed" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "gripper_closedness_commanded" + value { + tensor_spec_value { + name: "gripper_closedness_commanded" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "height_to_bottom" + value { + tensor_spec_value { + name: "height_to_bottom" + shape { + dim { + size: 1 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "image" + value { + tensor_spec_value { + name: "image" + shape { + dim { + size: 256 + } + dim { + size: 320 + } + dim { + size: 3 + } + } + dtype: DT_UINT8 + } + } + } + fields { + key: "natural_language_embedding" + value { + tensor_spec_value { + name: "natural_language_embedding" + shape { + dim { + size: 512 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "natural_language_instruction" + value { + tensor_spec_value { + name: "natural_language_instruction" + shape { + } + dtype: DT_STRING + } + } + } + fields { + key: "orientation_box" + value { + tensor_spec_value { + name: "orientation_box" + shape { + dim { + size: 2 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "orientation_start" + value { + tensor_spec_value { + name: "orientation_in_camera_space" + shape { + dim { + size: 4 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "robot_orientation_positions_box" + value { + tensor_spec_value { + name: "robot_orientation_positions_box" + shape { + dim { + size: 3 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "rotation_delta_to_go" + value { + tensor_spec_value { + name: "rotation_delta_to_go" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "src_rotation" + value { + tensor_spec_value { + name: "transform_camera_robot" + shape { + dim { + size: 4 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "vector_to_go" + value { + tensor_spec_value { + name: "vector_to_go" + shape { + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + fields { + key: "workspace_bounds" + value { + tensor_spec_value { + name: "workspace_bounds" + shape { + dim { + size: 3 + } + dim { + size: 3 + } + } + dtype: DT_FLOAT + } + } + } + } + } + } + values { + key: "action" + value { + dict_value { + fields { + key: "base_displacement_vector" 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