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Low accuracy for diffusion policy+aloha env+sim_transfer_cude_human dataset #502

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Kimho666 opened this issue Nov 8, 2024 · 2 comments
Open

Low accuracy for diffusion policy+aloha env+sim_transfer_cude_human dataset #502

Kimho666 opened this issue Nov 8, 2024 · 2 comments

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@Kimho666
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Kimho666 commented Nov 8, 2024

I'm trying to use diffusion model and aloha env to train on sim_transfer_cude_human dataset. But after 60000 training step, the evaluation accuracy is only 2%-6%. Idont know why? If I load pre-trained act policy, the accuracy can reach 80%.
@Kimho666
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Kimho666 commented Nov 8, 2024

This is my policy config.
diffusion4aloha.txt

@Kimho666
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Kimho666 commented Nov 8, 2024

image

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@Kimho666