Open nicehiro opened 7 months ago
Thanks for giving the model a try!
Sorry about the issues with the eval_finetuned
example -- it seems that some lines got deleted in our cleanup. Should hopefully be fixed in https://github.com/octo-models/octo/pull/40
Once it's merged, can you try again to gym.make
the environment?
For the model loading: it's surprising that it tries to load a key "diffusion_model" since the 02_finetune_new_observation_action.py
example replaces the diffusion head with an L1 head, so there should be no more diffusion in the model. Can you inspect the config saved alongside the finetuned model checkpoint and see whether it correctly replaced the diffusion head with the L1 head or whether there is any other diffusion head in there? Just to make sure: you set the finetuned_path
argument to where the finetuning checkpoint from example (2) was saved, correct?
Once it's merged, can you try again to gym.make the environment?
Yes. I'd like to.
Just to make sure: you set the finetuned_path argument to where the finetuning checkpoint from example (2) was saved, correct?
Yes. I'm using the following command, where /output/finetuned_model
is the saved finetuned model.
python examples/03_eval_finetuned.py --finetuned_path="/output/finetuned_model"
The action_head
in config.json
is:
I'm able to import sim_env, but the example 03_eval_finetuned throws the KeyError: 'proprio'
in line 328, gym_wrappers.py.
On changing line 72 in 03_eval_finetuned.py to ...model.dataset_statistics['bridge_dataset']...
, it throws the ValueError: operands could not be broadcast together with shapes (1, 14) (8, )
. I get the same error on trying the other datasets. Please help with running this example code.
I'm able to import sim_env, but the example 03_eval_finetuned throws the
KeyError: 'proprio'
in line 328, gym_wrappers.py.On changing line 72 in 03_eval_finetuned.py to
...model.dataset_statistics['bridge_dataset']...
, it throws theValueError: operands could not be broadcast together with shapes (1, 14) (8, )
. I get the same error on trying the other datasets. Please help with running this example code.
I encountered the same problem, my device did not have enough GPU memory to fine-tune on the aloha environment, and I did not get the results after fine-tuning. So I am not sure if it is caused by not doing inference on the results of fine-tuning. But I checked the dataset_statistics.json file and found that the proprio of all datasets has 8 dimensions, so I think it should also have 8 dimensions after fine-tuning. You can see the config after fine-tuning from this issue https://github.com/octo-models/octo/issues/42#issue-2093968665, it shows that the action_dim is 14 instead of 8.
Yes, ALOHA is a bimanual setup so its action space is 14-dimensional. Our pre-training data is all single-arm data with an 8-dimensional action space. So you can only evaluate the Octo model on the ALOHA setup after fine-tuning since we need to train a new action head with the correct action dimensionality.
Hi, thanks for your great work!
I have finetuned the model by using
examples/02_finetune_new_observation_action.py
. And I'm runningexamples/03_eval_finetuned.py
to show the finetuned results.I followed the instructions
https://github.com/octo-models/octo/blob/8fe74973c37516a2ee7585544bb5d4e7b7da059e/examples/03_eval_finetuned.py#L9-L11
and add
sys.path.append("/path/to/act")
. But still cannot makegym.make("aloha-sim-cube-v0")
successful.Another problem is that I cannot successfully load the finetuned model. Here's the backtrace.
It looks like I didn't save the diffusion model in the training process. Did I miss something in the configuration?
Thanks.