Launch training with seed 42 on GPU 0.

(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=image_diffusion_policy.yaml training.seed=42 training.device=cuda:0 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=image_pusht_diffusion_policy_cnn.yaml training.seed=42 training.device=cuda:0 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=hand_diffusion_policy_cnn.yaml training.seed=42 training.device=cuda:0 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

扩散策略实现机器人动作

(action)
(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=real_hand_diffusion_policy_cnn.yaml training.seed=42 training.device=cuda:1 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

生成图片(image)
python train.py --config-dir=. --config-name=real_hand_image_diffusion_policy_cnn.yaml training.seed=42 training.device=cuda:1 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

angle + torque 
python train.py --config-dir=. --config-name=real_hand_diffusion_policy_cnn.yaml training.seed=42 training.device=cuda:1 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

扩散模型实现数据集扩充(unet的方法)

(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=real_mutil_diffusion_policy.yaml training.seed=42 training.device=cuda:1 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=real_mutil_diffusion_policy_2.yaml training.seed=42 training.device=cuda:2 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=real_mutil_diffusion_policy_3.yaml training.seed=42 training.device=cuda:3 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

扩散模型实现数据集扩充(transformer的方法)

(robodiff)[diffusion_policy]$ python train.py --config-dir=. --config-name=real_mutil_trans_diffusion_policy.yaml training.seed=42 training.device=cuda:2 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}'

tensorboard --logdir exp{data}{task}