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zcczhang / UVD

Universal Visual Decomposer: Long-Horizon Manipulation Made Easy
https://zcczhang.github.io/UVD/
MIT License
44 stars 6 forks source link

Sincerely hope for your help #6

Closed happyflying-web closed 6 months ago

happyflying-web commented 8 months ago

Dear Zichen, Your work really makes sense for me ! I have learned a lot from this project. There are still some questions :

  1. After running data_gen.py , the structure of the generated dataset is as follows, it is not consist with your generated dataset in https://huggingface.co/datasets/zcczhang/UVD and it can not generate normal episodes, instead , it generate a lot of reject_sampling pictures (my run result is that there only generate one episode, the rest of other files are all reject_sampling pictures) image 2.The reason why I want to re-run data_gen.py is that I want to let the generated episode.pkl contain more information such as position,velocity，posture and so on. 3.The generated dataset you provide in https://huggingface.co/datasets/zcczhang/UVD ,the episode.pkl containing following fields dict_keys(['reset_kwargs', 'obs_full', 'actions', 'rewards', 'dones', 'completed_tasks', 'scores', 'seed', 'oracle_milestones', 'no_robot_rgb', 'ctrls', 'last_distances_to_goal']), I don't understand the meaning of some of these fields like 'proprio' in data['obs_full']['proprio'] ,'completed_tasks', 'oracle_milestones' ,especially I would like to understand the difference and correlation between 'ctrls' and 'actions'. Your help is very meaningful to me！Thanks a lot!
happyflying-web commented 8 months ago

image

zcczhang commented 7 months ago

Thanks for the interest!

it can not generate normal episodes

Could you please share/paste the stdout of the commands? Seems to work well on my end, but maybe there are some hidden issues with MuJoCo or the code I set up or fixed internally but not during the release.

dict_keys(['reset_kwargs', 'obs_full', 'actions', 'rewards', 'dones', 'completed_tasks', 'scores', 'seed', 'oracle_milestones', 'no_robot_rgb', 'ctrls', 'last_distances_to_goal'])

proprio stands for the proprioception, which includes the robot arm joint angles (see here); completed_tasks denotes the subtasks that have been completed --- recall that each long-horizon task in FrankaKitchen consists of four subtasks, involving the manipulation of 4 out of 7 possible objects. (see the Goal section of this doc here); the term oracle_milestones refers to the oracle subgoal images corresponding to each subtask, specifically the final frames captured upon the completion of each subtask. Consequently, there will always be four such images for each demonstration. Though I named this as oracle_milestones, after the ablation showed in the paper, I indeed found that these milestones/subgoals images are not actually "oracle", so it could also be considered as the milestone images for the human-specified/pre-defined subtasks.

difference and correlation between 'ctrls' and 'actions'

action space is 9D joint velocities that are actually applied to the system or agent based on the "control". In other words, probably you can understand the ctrl as the desired force states for action, and action is the actual command that is from -1 to 1 for the interaction in the simulator (so ctrl is not dependant on the simulator whereas action is, e.g. joint states, simulation frame rate, and other simulator parameters as well). Maybe the official MuJoCo documents would be helpful for understanding the simulator backends (e.g. here)

happyflying-web commented 7 months ago

There is an error ERROR: Offscreen framebuffer is not complete, error 0x8cdd during running, but the program will keep running and generate some results. I doubt it has something to do with it. I didn't notice it before. I just discovered it when I am reporting the output to you today. I'm trying to solve this error.During the running process, the following four folders bottom_burner，kettle，light_switch，top_burner will be generated ，but only one episode will be generated in the kettle folder, and in other folders , there are only a lot of reject_samplings generated. And I've tried it many times, results are the same.

Reading configurations for Franka
Reading configurations for Franka
Reading configurations for Franka
Reading configurations for Franka
Initializing Franka sim
Reading configurations for Franka
Initializing Franka sim
Reading configurations for Franka
Reading configurations for Franka
Initializing Franka sim
Reading configurations for Franka
Reading configurations for Franka
Reading configurations for Franka
Reading configurations for Franka
Initializing Franka sim
Reading configurations for Franka
Reading configurations for Franka
Initializing Franka sim
Initializing Franka sim
Reading configurations for Franka
Reading configurations for Franka
Reading configurations for Franka
Initializing Franka sim
Reading configurations for Franka
Reading configurations for Franka
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
Initializing Franka sim
task ['kettle']
element kettle
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
kettle:   0%|                                                                                                                                           | 0/14 [00:00<?, ?it/s]task ['kettle']
element kettle
Found 3 GPUs for rendering. Using device 0.
task ['light_switch']
element light switch
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
light_switch:   0%|                                                                                                                                     | 0/21 [00:00<?, ?it/s]task ['light_switch']
element light switch
Found 3 GPUs for rendering. Using device 0.
task ['bottom_burner']
element bottom burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
bottom_burner:   0%|                                                                                                                                    | 0/25 [00:00<?, ?it/s]task ['bottom_burner']
element bottom burner
Found 3 GPUs for rendering. Using device 0.
task ['bottom_burner']
element bottom burner
task ['bottom_burner']
element bottom burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
task ['bottom_burner']
element bottom burner
bottom_burner:   0%|                                                                                                                                    | 0/22 [00:00<?, ?it/s]task ['kettle']
element kettle
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
task ['kettle']
element kettle
task ['bottom_burner']
element bottom burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
bottom_burner:   0%|                                                                                                                                    | 0/20 [00:00<?, ?it/s]task ['light_switch']
element light switch
bottom_burner:   0%|                                                                                                                                    | 0/47 [00:00<?, ?it/s]task ['kettle']
task ['kettle']
element kettle
element kettle
task ['bottom_burner']
element bottom burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
task ['top_burner']
task ['bottom_burner']
element bottom burner
element top burner
Found 3 GPUs for rendering. Using device 0.
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
kettle:   0%|                                                                                                                                           | 0/22 [00:00<?, ?it/s]/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
task ['bottom_burner']
element bottom burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
light_switch:   0%|                                                                                                                                     | 0/18 [00:00<?, ?it/s]task ['kettle']
element kettle
task ['top_burner']
element top burner
task ['bottom_burner']
element bottom burner
Found 3 GPUs for rendering. Using device 0.
kettle:   0%|                                                                                                                                           | 0/24 [00:00<?, ?it/s]Found 3 GPUs for rendering. Using device 0.
kettle:   0%|                                                                                                                                           | 0/20 [00:00<?, ?it/s]task ['kettle']
element kettle
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
task ['light_switch']
element light switch
top_burner:   0%|                                                                                                                                       | 0/27 [00:00<?, ?it/s]/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
bottom_burner:   0%|                                                                                                                                    | 0/26 [00:00<?, ?it/s]task ['kettle']
element kettle
Found 3 GPUs for rendering. Using device 0.
task ['kettle']
element kettle
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
Found 3 GPUs for rendering. Using device 0.
bottom_burner:   0%|                                                                                                                                    | 0/20 [00:00<?, ?it/s]task ['bottom_burner']
element bottom burner
task ['bottom_burner']
element bottom burner
task ['top_burner']
element top burner
Found 3 GPUs for rendering. Using device 0.
task ['top_burner']
element top burner
Found 3 GPUs for rendering. Using device 0.
Found 3 GPUs for rendering. Using device 0.
Found 3 GPUs for rendering. Using device 0.
Found 3 GPUs for rendering. Using device 0.
Found 3 GPUs for rendering. Using device 0.
Found 3 GPUs for rendering. Using device 0.
task ['bottom_burner']
element bottom burner
task ['top_burner']
element top burner
task ['bottom_burner']
element bottom burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
bottom_burner:   0%|                                                                                                                                    | 0/26 [00:00<?, ?it/s]/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
top_burner:   0%|                                                                                                                                       | 0/27 [00:00<?, ?it/s]task ['bottom_burner']
element bottom burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
bottom_burner:   0%|                                                                                                                                    | 0/21 [00:00<?, ?it/s]task ['top_burner']
element top burner
task ['bottom_burner']
element bottom burner
Found 3 GPUs for rendering. Using device 0.
Found 3 GPUs for rendering. Using device 0.
Found 3 GPUs for rendering. Using device 0.
task ['kettle']
element kettle
task ['light_switch']
element light switch
task ['bottom_burner']
element bottom burner

task ['kettle']                                                                                                                                        | 0/221 [00:00<?, ?it/s]
element kettle

task ['light_switch']                                                                                                                                  | 0/261 [00:00<?, ?it/s]
element light switch

task ['bottom_burner']                                                                                                                                 | 0/232 [00:00<?, ?it/s]
element bottom burner
task ['kettle']
element kettle

task ['kettle']                                                                                                                                | 1/221 [00:00<03:35,  1.02it/s]
element kettle
Reading configurations for Franka
Initializing Franka sim

task ['light_switch']                                                                                                                          | 1/261 [00:01<05:55,  1.37s/it]
element light switch
task ['bottom_burner']
element bottom burner
task ['top_burner']
element top burner
/home/dellpc/anaconda3/envs/uvd/lib/python3.9/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
top_burner:   0%|                                                                                                                                       | 0/18 [00:00<?, ?it/s]task ['top_burner']
element top burner

task ['bottom_burner']                                                                                                                         | 1/232 [00:01<05:56,  1.55s/it]
element bottom burner
task ['bottom_burner']
element bottom burner
Found 3 GPUs for rendering. Using device 0.

task ['kettle']                                                                                                                                        | 0/198 [00:00<?, ?it/s]
element kettle

task ['kettle']                                                                                                                                | 2/221 [00:02<05:15,  1.44s/it]
element kettle
task ['kettle']
element kettle
task ['bottom_burner']
element bottom burner
ERROR: Offscreen framebuffer is not complete, error 0x8cdd

Press Enter to exit ...task ['kettle']
element kettle

task ['light_switch']                                                                                                                          | 2/261 [00:03<08:05,  1.87s/it]
element light switch

task ['bottom_burner']                                                                                                                                 | 0/226 [00:00<?, ?it/s]
element bottom burner
task ['kettle']
element kettle

task ['bottom_burner']                                                                                                                         | 2/232 [00:03<07:48,  2.04s/it]
element bottom burner

task ['kettle']                                                                                                                                | 3/221 [00:05<07:14,  1.99s/it]
element kettle

task ['bottom_burner']                                                                                                                                 | 0/192 [00:00<?, ?it/s]
element bottom burner

task ['light_switch']                                                                                                                                  | 0/240 [00:00<?, ?it/s]
element light switch
task ['kettle']
element kettle
task ['bottom_burner']
element bottom burner

task ['kettle']                                                                                                                                | 1/198 [00:03<09:59,  3.04s/it]
element kettle
task ['top_burner']
element top burner

task ['bottom_burner']                                                                                                                                 | 0/258 [00:00<?, ?it/s]
element bottom burner
task ['top_burner']
element top burner

task ['kettle']                                                                                                                                        | 0/197 [00:00<?, ?it/s]
element kettle
task ['bottom_burner']
element bottom burner

task ['light_switch']                                                                                                                          | 3/261 [00:06<09:46,  2.28s/it]
element light switch
task ['bottom_burner']
element bottom burner

task ['bottom_burner']                                                                                                                         | 3/232 [00:06<09:04,  2.38s/it]
element bottom burner

task ['kettle']                                                                                                                                        | 0/262 [00:00<?, ?it/s]
element kettle

task ['bottom_burner']                                                                                                                         | 1/226 [00:03<11:27,  3.05s/it]
element bottom burner
task ['top_burner']
element top burner

task ['kettle']                                                                                                                                | 4/221 [00:08<08:48,  2.44s/it]
element kettle

task ['kettle']                                                                                                                                | 1/240 [00:02<11:49,  2.97s/it]
element kettle

task ['bottom_burner']                                                                                                                         | 1/192 [00:03<10:05,  3.17s/it]
element bottom burner

task ['light_switch']                                                                                                                                  | 0/211 [00:00<?, ?it/s]
element light switch

task ['bottom_burner']                                                                                                                                 | 0/195 [00:00<?, ?it/s]
element bottom burner

task ['top_burner']                                                                                                                                    | 0/202 [00:00<?, ?it/s]
element top burner

task ['kettle']                                                                                                                                | 2/198 [00:06<10:10,  3.11s/it]
element kettle

task ['bottom_burner']                                                                                                                         | 1/258 [00:03<12:52,  3.01s/it]
element bottom burner

task ['light_switch']                                                                                                                          | 4/261 [00:09<10:36,  2.48s/it]
element light switch

task ['top_burner']                                                                                                                                    | 0/276 [00:00<?, ?it/s]
element top burner

task ['kettle']                                                                                                                                | 1/197 [00:03<09:51,  3.02s/it]
element kettle

task ['bottom_burner']                                                                                                                         | 4/232 [00:09<09:38,  2.54s/it]
element bottom burner

task ['bottom_burner']                                                                                                                                 | 0/228 [00:00<?, ?it/s]
element bottom burner

task ['bottom_burner']                                                                                                                                 | 0/222 [00:00<?, ?it/s]
element bottom burner

task ['kettle']                                                                                                                                | 1/262 [00:02<13:01,  3.00s/it]
element kettle

task ['bottom_burner']                                                                                                                         | 2/226 [00:06<11:29,  3.08s/it]
element bottom burner

task ['top_burner']                                                                                                                                    | 0/220 [00:00<?, ?it/s]
element top burner

task ['kettle']                                                                                                                                | 5/221 [00:11<09:15,  2.57s/it]
element kettle

task ['kettle']                                                                                                                                | 2/240 [00:05<11:52,  2.99s/it]
element kettle

task ['bottom_burner']                                                                                                                         | 2/192 [00:06<10:06,  3.19s/it]
element bottom burner

task ['bottom_burner']                                                                                                                         | 2/258 [00:06<12:54,  3.02s/it]
element bottom burner

task ['light_switch']                                                                                                                          | 1/211 [00:03<11:09,  3.19s/it]
element light switch

task ['bottom_burner']                                                                                                                         | 1/195 [00:03<10:17,  3.18s/it]
element bottom burner

task ['top_burner']                                                                                                                            | 1/202 [00:03<10:38,  3.17s/it]
element top burner

task ['kettle']                                                                                                                                | 3/198 [00:09<10:12,  3.14s/it]
element kettle

task ['light_switch']                                                                                                                          | 5/261 [00:11<11:02,  2.59s/it]
element light switch

task ['kettle']                                                                                                                                | 2/197 [00:05<09:44,  3.00s/it]
element kettle

task ['bottom_burner']                                                                                                                         | 5/232 [00:12<09:54,  2.62s/it]
element bottom burner

task ['top_burner']                                                                                                                            | 1/276 [00:03<15:25,  3.36s/it]
element top burner

task ['kettle']                                                                                                                                | 2/262 [00:05<12:56,  2.98s/it]
element kettle

task ['bottom_burner']                                                                                                                         | 3/226 [00:09<11:25,  3.08s/it]
element bottom burner
task ['bottom_burner']
element bottom burner

task ['bottom_burner']                                                                                                                         | 1/222 [00:03<12:27,  3.38s/it]
element bottom burner

task ['kettle']                                                                                                                                | 6/221 [00:14<09:28,  2.64s/it]
element kettle

task ['top_burner']                                                                                                                            | 1/220 [00:03<12:20,  3.38s/it]
element top burner

task ['kettle']                                                                                                                                | 3/240 [00:08<11:48,  2.99s/it]

image image image image

zcczhang commented 6 months ago

emmm Have you changed scripts? The folder name should be the multi-stage long-horizon tasks, i.e.

bottom_burner-top_burner-light_switch-slide_cabinet
bottom_burner-top_burner-slide_cabinet-hinge_cabinet
kettle-bottom_burner-light_switch-hinge_cabinet
kettle-bottom_burner-light_switch-slide_cabinet
kettle-bottom_burner-slide_cabinet-hinge_cabinet
kettle-bottom_burner-top_burner-hinge_cabinet
kettle-bottom_burner-top_burner-light_switch
kettle-bottom_burner-top_burner-slide_cabinet
kettle-light_switch-slide_cabinet-hinge_cabinet
kettle-top_burner-light_switch-slide_cabinet
microwave-bottom_burner-light_switch-slide_cabinet
microwave-bottom_burner-slide_cabinet-hinge_cabinet
microwave-bottom_burner-top_burner-hinge_cabinet
microwave-bottom_burner-top_burner-light_switch
microwave-bottom_burner-top_burner-slide_cabinet
microwave-kettle-bottom_burner-hinge_cabinet
microwave-kettle-bottom_burner-slide_cabinet
microwave-kettle-light_switch-hinge_cabinet
microwave-kettle-light_switch-slide_cabinet
microwave-kettle-slide_cabinet-hinge_cabinet
microwave-kettle-top_burner-hinge_cabinet
microwave-kettle-top_burner-light_switch
microwave-light_switch-slide_cabinet-hinge_cabinet

One example traceback is something like this with tqdm pbar

kettle-bottom burner-top burner-hinge cabinet: 100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:09<00:00,  4.83s/it]
Closing Franka sim██████████████████████████████████████████████████████████████████████████████                                                                                                                                                                                                                 | 78/257 [00:01<00:04, 44.47it/s]
Reading configurations for Franka
Initializing Franka sim
microwave-kettle-bottom burner-hinge cabinet:  50%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████▌                                                                                                                                | 1/2 [00:04<00:04,  4.90s/it]
microwave-bottom burner-light switch-slide cabinet: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:08<00:00,  4.38s/it]
Closing Franka sim██████████████████████▋                                                                                                                                                                                                                                                                        | 25/210 [00:00<00:04, 45.36it/s]
Reading configurations for Franka
Initializing Franka sim
100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 257/257 [00:05<00:00, 47.75it/s]
kettle-bottom burner-light switch-hinge cabinet: 100%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:10<00:00,  5.42s/it]
Closing Franka sim██████████████████████████████████████████
zcczhang commented 6 months ago

For ERROR: Offscreen framebuffer is not complete, error 0x8cdd, seems the issue from MuJoCo, maybe check this? Even though by default we are not using DM_Control API due to some render issue (so adept_envs.mujoco_env.USE_DM_CONTROL = False)

happyflying-web commented 6 months ago

emmm Have you changed scripts? The folder name should be the multi-stage long-horizon tasks, i.e.

bottom_burner-top_burner-light_switch-slide_cabinet
bottom_burner-top_burner-slide_cabinet-hinge_cabinet
kettle-bottom_burner-light_switch-hinge_cabinet
kettle-bottom_burner-light_switch-slide_cabinet
kettle-bottom_burner-slide_cabinet-hinge_cabinet
kettle-bottom_burner-top_burner-hinge_cabinet
kettle-bottom_burner-top_burner-light_switch
kettle-bottom_burner-top_burner-slide_cabinet
kettle-light_switch-slide_cabinet-hinge_cabinet
kettle-top_burner-light_switch-slide_cabinet
microwave-bottom_burner-light_switch-slide_cabinet
microwave-bottom_burner-slide_cabinet-hinge_cabinet
microwave-bottom_burner-top_burner-hinge_cabinet
microwave-bottom_burner-top_burner-light_switch
microwave-bottom_burner-top_burner-slide_cabinet
microwave-kettle-bottom_burner-hinge_cabinet
microwave-kettle-bottom_burner-slide_cabinet
microwave-kettle-light_switch-hinge_cabinet
microwave-kettle-light_switch-slide_cabinet
microwave-kettle-slide_cabinet-hinge_cabinet
microwave-kettle-top_burner-hinge_cabinet
microwave-kettle-top_burner-light_switch
microwave-light_switch-slide_cabinet-hinge_cabinet

One example traceback is something like this with tqdm pbar

kettle-bottom burner-top burner-hinge cabinet: 100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:09<00:00,  4.83s/it]
Closing Franka sim██████████████████████████████████████████████████████████████████████████████                                                                                                                                                                                                                 | 78/257 [00:01<00:04, 44.47it/s]
Reading configurations for Franka
Initializing Franka sim
microwave-kettle-bottom burner-hinge cabinet:  50%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████▌                                                                                                                                | 1/2 [00:04<00:04,  4.90s/it]
microwave-bottom burner-light switch-slide cabinet: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:08<00:00,  4.38s/it]
Closing Franka sim██████████████████████▋                                                                                                                                                                                                                                                                        | 25/210 [00:00<00:04, 45.36it/s]
Reading configurations for Franka
Initializing Franka sim
100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 257/257 [00:05<00:00, 47.75it/s]
kettle-bottom burner-light switch-hinge cabinet: 100%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:10<00:00,  5.42s/it]
Closing Franka sim██████████████████████████████████████████

No, I didn't change the original code. I have try many times and re-clone from repository ,but it seems the results are the same each time in the wrong way.

zcczhang commented 6 months ago

Given https://github.com/zcczhang/UVD/blob/51f9e7e0f8d65fffb6f9cb17faecf104e050ca49/datasets/data_gen.py#L66 and https://github.com/zcczhang/UVD/blob/51f9e7e0f8d65fffb6f9cb17faecf104e050ca49/datasets/data_gen.py#L83-L85

It is unexpected to contain only one object (see above). Are you using the correct raw dataset for postprocess?

happyflying-web commented 6 months ago

This is the raw dataset I used . image

zcczhang commented 6 months ago

Can you set a debug point and see what is actually parsed_task_name is? It should be sth like microwave-light_switch-slide_cabinet-hinge_cabinet instead of single object from what you showed I think

zcczhang commented 6 months ago

I believe the problem would be the same as #4 so closed this one due to duplication.