How to train the original Robomimic task square? #2
Description
Thank u so much for sharing this good work!
I have run the code successfully with the command in the README.md. Well, I am also interested in the Robomimic task such as Square, Can, so I want to test EquiDiff method on these tasks. But if I simply add the file robomimic_abs.yaml which mimics the mimicgen_abs.yaml in the code, it doesen't work and shows the error as following. So how can I do that?
(equidiff) zhenyuan:~/Code/Source/equidiff$ CUDA_VISIBLE_DEVICES=1 MUJOCO_GL=osmesa PYOPENGL_PLATTFORM=osmesa python train.py --config-name=robomimic_train_act_abs task_name=square n_demo=180 training.debug=True
Error executing job with overrides: ['task_name=square', 'n_demo=180', 'training.debug=True']
Traceback (most recent call last):
File "/home/zhenyuan/Code/Source/equidiff/train.py", line 67, in <module>
main()
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/main.py", line 90, in decorated_main
_run_hydra(
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/_internal/utils.py", line 389, in _run_hydra
_run_app(
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/_internal/utils.py", line 452, in _run_app
run_and_report(
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/_internal/utils.py", line 216, in run_and_report
raise ex
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/_internal/utils.py", line 213, in run_and_report
return func()
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/_internal/utils.py", line 453, in <lambda>
lambda: hydra.run(
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/_internal/hydra.py", line 132, in run
_ = ret.return_value
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/core/utils.py", line 260, in return_value
raise self._return_value
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/hydra/core/utils.py", line 186, in run_job
ret.return_value = task_function(task_cfg)
File "/home/zhenyuan/Code/Source/equidiff/train.py", line 60, in main
OmegaConf.resolve(cfg)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/omegaconf.py", line 771, in resolve
omegaconf._impl._resolve(cfg)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/_impl.py", line 40, in _resolve
_resolve_container_value(cfg, k)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/_impl.py", line 14, in _resolve_container_value
resolved = node._dereference_node()
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/base.py", line 246, in _dereference_node
node = self._dereference_node_impl(throw_on_resolution_failure=True)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/base.py", line 277, in _dereference_node_impl
return parent._resolve_interpolation_from_parse_tree(
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/base.py", line 584, in _resolve_interpolation_from_parse_tree
resolved = self.resolve_parse_tree(
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/base.py", line 764, in resolve_parse_tree
return visitor.visit(parse_tree)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/antlr4/tree/Tree.py", line 34, in visit
return tree.accept(self)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar/gen/OmegaConfGrammarParser.py", line 206, in accept
return visitor.visitConfigValue(self)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar_visitor.py", line 101, in visitConfigValue
return self.visit(ctx.getChild(0))
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/antlr4/tree/Tree.py", line 34, in visit
return tree.accept(self)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar/gen/OmegaConfGrammarParser.py", line 342, in accept
return visitor.visitText(self)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar_visitor.py", line 301, in visitText
return self._unescape(list(ctx.getChildren()))
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar_visitor.py", line 389, in _unescape
text = str(self.visitInterpolation(node))
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar_visitor.py", line 125, in visitInterpolation
return self.visit(ctx.getChild(0))
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/antlr4/tree/Tree.py", line 34, in visit
return tree.accept(self)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar/gen/OmegaConfGrammarParser.py", line 921, in accept
return visitor.visitInterpolationNode(self)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/grammar_visitor.py", line 158, in visitInterpolationNode
return self.node_interpolation_callback(inter_key, self.memo)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/base.py", line 745, in node_interpolation_callback
return self._resolve_node_interpolation(inter_key=inter_key, memo=memo)
File "/home/zhenyuan/Softwares/miniforge3/envs/equidiff/lib/python3.9/site-packages/omegaconf/base.py", line 676, in _resolve_node_interpolation
raise InterpolationKeyError(f"Interpolation key '{inter_key}' not found")
omegaconf.errors.InterpolationKeyError: Interpolation key 'task.task_name' not found
Looking forward to ur reply!