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openvla policy intergration #10

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openvla policy intergration #10

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0a44c35
openvla intergration
DelinQu Jul 4, 2024
8c0a23d
intergrate openvla policy and PR
DelinQu Jul 5, 2024
e95842c
openvla policy intergration pull request
DelinQu Jul 6, 2024
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49 changes: 49 additions & 0 deletions scripts/openvla_bridge.sh
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gpu_id=0
policy_model=openvla
ckpt_path="openvla/openvla-7b"

scene_name=bridge_table_1_v1
robot=widowx
rgb_overlay_path=ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png
robot_init_x=0.147
robot_init_y=0.028

python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 60 \
--env-name PutCarrotOnPlateInScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;

python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 60 \
--env-name StackGreenCubeOnYellowCubeBakedTexInScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;

python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 60 \
--env-name PutSpoonOnTableClothInScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;


scene_name=bridge_table_1_v2
robot=widowx_sink_camera_setup
rgb_overlay_path=ManiSkill2_real2sim/data/real_inpainting/bridge_sink.png
robot_init_x=0.127
robot_init_y=0.06

python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
--robot ${robot} --policy-setup widowx_bridge \
--control-freq 5 --sim-freq 500 --max-episode-steps 120 \
--env-name PutEggplantInBasketScene-v0 --scene-name ${scene_name} \
--rgb-overlay-path ${rgb_overlay_path} \
--robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;

82 changes: 82 additions & 0 deletions scripts/openvla_drawer_variant_agg.sh
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# shader_dir=rt means that we turn on ray-tracing rendering; this is quite crucial for the open / close drawer task as policies often rely on shadows to infer depth
declare -a ckpt_paths=(
"openvla/openvla-7b"
)

declare -a env_names=(
OpenTopDrawerCustomInScene-v0
OpenMiddleDrawerCustomInScene-v0
OpenBottomDrawerCustomInScene-v0
CloseTopDrawerCustomInScene-v0
CloseMiddleDrawerCustomInScene-v0
CloseBottomDrawerCustomInScene-v0
)

EXTRA_ARGS="--enable-raytracing"


# base setup
scene_name=frl_apartment_stage_simple

EvalSim() {
echo ${ckpt_path} ${env_name}

python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name ${scene_name} \
--robot-init-x 0.65 0.85 3 --robot-init-y -0.2 0.2 3 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0.0 0.0 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
${EXTRA_ARGS}
}


for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EvalSim
done
done


# backgrounds

declare -a scene_names=(
"modern_bedroom_no_roof"
"modern_office_no_roof"
)

for scene_name in "${scene_names[@]}"; do
for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt"
EvalSim
done
done
done


# lightings
scene_name=frl_apartment_stage_simple

for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt light_mode=brighter"
EvalSim
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt light_mode=darker"
EvalSim
done
done


# new cabinets
scene_name=frl_apartment_stage_simple

for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt station_name=mk_station2"
EvalSim
EXTRA_ARGS="--additional-env-build-kwargs shader_dir=rt station_name=mk_station3"
EvalSim
done
done
132 changes: 132 additions & 0 deletions scripts/openvla_drawer_visual_matching.sh
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# shader_dir=rt means that we turn on ray-tracing rendering; this is quite crucial for the open / close drawer task as policies often rely on shadows to infer depth
declare -a ckpt_paths=(
"openvla/openvla-7b"
)

declare -a env_names=(
OpenTopDrawerCustomInScene-v0
OpenMiddleDrawerCustomInScene-v0
OpenBottomDrawerCustomInScene-v0
CloseTopDrawerCustomInScene-v0
CloseMiddleDrawerCustomInScene-v0
CloseBottomDrawerCustomInScene-v0
)

# URDF variations
declare -a urdf_version_arr=("recolor_cabinet_visual_matching_1" "recolor_tabletop_visual_matching_1" "recolor_tabletop_visual_matching_2" None)

for urdf_version in "${urdf_version_arr[@]}"; do

EXTRA_ARGS="--enable-raytracing --additional-env-build-kwargs station_name=mk_station_recolor light_mode=simple disable_bad_material=True urdf_version=${urdf_version}"

EvalOverlay() {
# A0
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.644 0.644 1 --robot-init-y -0.179 -0.179 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.03 -0.03 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_a0.png \
${EXTRA_ARGS}

# A1
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.765 0.765 1 --robot-init-y -0.182 -0.182 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.02 -0.02 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_a1.png \
${EXTRA_ARGS}

# A2
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.889 0.889 1 --robot-init-y -0.203 -0.203 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.06 -0.06 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_a2.png \
${EXTRA_ARGS}

# B0
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.652 0.652 1 --robot-init-y 0.009 0.009 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_b0.png \
${EXTRA_ARGS}

# B1
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.752 0.752 1 --robot-init-y 0.009 0.009 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_b1.png \
${EXTRA_ARGS}

# B2
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.851 0.851 1 --robot-init-y 0.035 0.035 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_b2.png \
${EXTRA_ARGS}

# C0
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.665 0.665 1 --robot-init-y 0.224 0.224 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_c0.png \
${EXTRA_ARGS}

# C1
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.765 0.765 1 --robot-init-y 0.222 0.222 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.025 -0.025 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_c1.png \
${EXTRA_ARGS}

# C2
python simpler_env/main_inference.py --policy-model openvla --ckpt-path ${ckpt_path} \
--robot google_robot_static \
--control-freq 3 --sim-freq 513 --max-episode-steps 113 \
--env-name ${env_name} --scene-name dummy_drawer \
--robot-init-x 0.865 0.865 1 --robot-init-y 0.222 0.222 1 \
--robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 -0.025 -0.025 1 \
--obj-init-x-range 0 0 1 --obj-init-y-range 0 0 1 \
--rgb-overlay-path ./ManiSkill2_real2sim/data/real_inpainting/open_drawer_c2.png \
${EXTRA_ARGS}
}


for ckpt_path in "${ckpt_paths[@]}"; do
for env_name in "${env_names[@]}"; do
EvalOverlay
done
done



done
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