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Lillianwei/
Equidiff

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Equidiff

folder_name: the name of the folder
file_name: the name of your file

Prepare data

Use mimicgen to generate data.

Use EmbodiedBM/equidiff/combinehdf5.py to combine data from multiple .hdf5 files if needed.

Put hdf5 data at EmbodiedBM/equidiff/data/robomimic/datasets with the format [folder_name]/[file_name].hdf5

Convert data

python equi_diffpo/scripts/robomimic_dataset_conversion.py -i data/robomimic/datasets/square_d2_test/demo.hdf5 -o data/robomimic/datasets/square_d2_test/demo_abs.hdf5 -n 12

Train

Use another CUDA device if 7 is currently in use.

CUDA_VISIBLE_DEVICES=5 MUJOCO_GL=osmesa PYOPENGL_PLATFORM=osmesa HYDRA_FULL_ERROR=1 python train.py --config-name=train_sq2_5000 folder_name=square_d2_5000 file_name=demo n_demo=5000

If you use another task than square_d2, you should change the task_name config by adding task_name=[task_name]

Test

Change the ckpt_path to the trained policy's weight's path in EmbodiedBM/equidiff/equi_diffpo/config/test_sq2.yaml

If you use another task than square_d2, you should change the dataset config in test_sq2.yaml and download the corresponding dataset from Huggingface.

python test.py

Lillianwei/Equidiff