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[Fix] fix fabric camera delay issue #61

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[Fix] fix fabric camera delay issue #61

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40 changes: 20 additions & 20 deletions scripts/eval/configs/h1_internvla_n1_async_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,61 +14,61 @@
model_name='internvla_n1',
ckpt_path='',
model_settings={
'env_num': 1, 'sim_num': 1,
'env_num': 1,
'sim_num': 1,
'model_path': "checkpoints/InternVLA-N1",
'camera_intrinsic': [
[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]
],

'width': 640, 'height': 480, 'hfov': 79,
'resize_w': 384, 'resize_h': 384,
'camera_intrinsic': [[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]],
'width': 640,
'height': 480,
'hfov': 79,
'resize_w': 384,
'resize_h': 384,
'max_new_tokens': 1024,
'num_frames': 32,
'num_history': 8,
'num_future_steps': 4,

'device': 'cuda:1',
'predict_step_nums': 32,
'continuous_traj': True,

'infer_mode': 'partial_async', # You can choose "sync" or "partial_async", but for this model, "partial_async" is better.
'continuous_traj': True,
'infer_mode': 'partial_async', # You can choose "sync" or "partial_async", but for this model, "partial_async" is better.
# debug
'vis_debug': True, # If vis_debug=True, you can get visualization results
'vis_debug_path': './logs/test/vis_debug'
'vis_debug': True, # If vis_debug=True, you can get visualization results
'vis_debug_path': './logs/test/vis_debug',
},
),
env=EnvCfg(
env_type='vln_multi',
env_settings={
'use_fabric': False, # Please set use_fabric=False due to the render delay;
'rendering_interval': 0, # You can set rendering_interval=0 to avoid the render delay.
'use_fabric': True,
'headless': True,
},
),
task=TaskCfg(
task_name='test',
task_settings={
'env_num': 1,
'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False.
'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False.
'proc_num': 1,
# 'max_step': 1000, #If use flash mode，default 1000; descrete mode, set 50000
# 'max_step': 1000, #If use flash mode，default 1000; descrete mode, set 50000
},
scene=SceneCfg(
scene_type='mp3d',
scene_data_dir='data/scene_data/mp3d_pe',
),
robot_name='h1',
robot_flash=True, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode.
robot_flash=True, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode.
robot_usd_path='data/Embodiments/vln-pe/h1/h1_internvla.usd',
camera_resolution=[640, 480], # (W,H)
camera_resolution=[640, 480], # (W,H)
camera_prim_path='torso_link/h1_1_25_down_30',
one_step_stand_still = True, #For dual-system, please keep this param True.
one_step_stand_still=True, # For dual-system, please keep this param True.
),
dataset=EvalDatasetCfg(
dataset_type="mp3d",
dataset_settings={
'base_data_dir': 'data/vln_pe/raw_data/r2r',
'split_data_types': ['val_seen', 'val_unseen'], # 'val_seen'
'filter_stairs': False, # For iros challenge, this is False; For results in the paper, this is True.
'filter_stairs': False, # For iros challenge, this is False; For results in the paper, this is True.
# 'selected_scans': ['zsNo4HB9uLZ'],
# 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'],
},
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35 changes: 18 additions & 17 deletions scripts/eval/configs/h1_internvla_n1_cfg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,58 +14,59 @@
model_name='internvla_n1',
ckpt_path='',
model_settings={
'env_num': 1, 'sim_num': 1,
'env_num': 1,
'sim_num': 1,
'model_path': "checkpoints/InternVLA-N1-Preview",
'camera_intrinsic': [
[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]
],

'width': 640, 'height': 480, 'hfov': 79,
'resize_w': 384, 'resize_h': 384,
'camera_intrinsic': [[585.0, 0.0, 320.0], [0.0, 585.0, 240.0], [0.0, 0.0, 1.0]],
'width': 640,
'height': 480,
'hfov': 79,
'resize_w': 384,
'resize_h': 384,
'max_new_tokens': 1024,
'num_frames': 32,
'num_history': 8,
'num_future_steps': 4,

'device': 'cuda:1',
'predict_step_nums': 32,
'continuous_traj': True,
'continuous_traj': True,
# debug
'vis_debug': True, # If vis_debug=True, you can get visualization results
'vis_debug_path': './logs/test/vis_debug'
'vis_debug': True, # If vis_debug=True, you can get visualization results
'vis_debug_path': './logs/test/vis_debug',
},
),
env=EnvCfg(
env_type='vln_multi',
env_settings={
'use_fabric': False, # Please set use_fabric=False due to the render delay;
'rendering_interval': 0, # You can set rendering_interval=0 to avoid the render delay.
'use_fabric': True,
'headless': True,
},
),
task=TaskCfg(
task_name='test',
task_settings={
'env_num': 1,
'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False.
'use_distributed': False, # If the others setting in task_settings, please set use_distributed = False.
'proc_num': 1,
},
scene=SceneCfg(
scene_type='mp3d',
scene_data_dir='data/scene_data/mp3d_pe',
),
robot_name='h1',
robot_flash=True, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode.
robot_flash=True, # If robot_flash is True, the mode is flash (set world_pose directly); else you choose physical mode.
robot_usd_path='data/Embodiments/vln-pe/h1/h1_internvla.usd',
camera_resolution=[640, 480], # (W,H)
camera_resolution=[640, 480], # (W,H)
camera_prim_path='torso_link/h1_1_25_down_30',
one_step_stand_still = True, #For dual-system, please keep this param True.
one_step_stand_still=True, # For dual-system, please keep this param True.
),
dataset=EvalDatasetCfg(
dataset_type="mp3d",
dataset_settings={
'base_data_dir': 'data/vln_pe/raw_data/r2r',
'split_data_types': ['val_unseen'], # 'val_seen'
'filter_stairs': False,
'filter_stairs': False,
# 'selected_scans': ['zsNo4HB9uLZ'],
# 'selected_scans': ['8194nk5LbLH', 'pLe4wQe7qrG'],
},
Expand Down