code.md

February 27, 2025 · View on GitHub

NOTE: All commands must be run from inside the point-policy directory. In point_policy/cfg/config.yaml, set root_dir to path/to/repo and data_dir to path/to/data/expert_demos. Also, set 'root_dir' in point_policy/cfg/suite/point_cfg.yaml to path/to/repo.

Training

  • BC
python train.py agent=baku suite=baku dataloader=baku eval=false suite/task/franka_env=<task_name> experiment=bc
  • BC w/ Depth
python train.py agent=baku suite=baku dataloader=baku eval=false suite/task/franka_env=<task_name> suite.gt_depth=true experiment=bc_with_depth
  • MT-π
python train.py agent=mtpi suite=mtpi dataloader=mtpi eval=false suite.use_robot_points=true suite.use_object_points=true suite/task/franka_env=<task_name> experiment=mtpi
  • P3PO
python train.py agent=p3po suite=p3po dataloader=p3po eval=false suite.use_robot_points=true suite.use_object_points=true suite/task/franka_env=<task_name> experiment=p3po
  • Point Policy
python train.py agent=point_policy suite=point_policy dataloader=point_policy eval=false suite.use_robot_points=true suite.use_object_points=true suite/task/franka_env=<task_name> experiment=point_policy

Inference

  • BC
python eval.py agent=baku suite=baku dataloader=baku eval=true experiment=eval_bc suite/task/franka_env=<task_name> bc_weight=path/to/bc/weight
  • BC w/ Depth
python eval.py agent=baku suite=baku dataloader=baku eval=true experiment=eval_bc_with_depth suite.gt_depth=true suite/task/franka_env=<task_name> bc_weight=path/to/bc/weight
  • MT-π
python eval_point_track.py agent=mtpi suite=mtpi dataloader=mtpi eval=true suite.use_robot_points=true suite.use_object_points=false experiment=eval_mtpi suite/task/franka_env=<task_name> bc_weight=path/to/bc/weight
  • P3PO
python eval_point_track.py agent=p3po suite=p3po dataloader=p3po eval=true suite.use_robot_points=true suite.use_object_points=true experiment=eval_p3po suite/task/franka_env=<task_name> bc_weight=path/to/bc/weight
  • Point Policy
python eval_point_track.py agent=point_policy suite=point_policy dataloader=point_policy eval=true suite.use_robot_points=true suite.use_object_points=true experiment=eval_point_policy suite/task/franka_env=<task_name> bc_weight=path/to/bc/weight