| project_name: HoloMotionMotrackV1.2 |
| experiment_name: training/motion_tracking/V1.3.0-RC4_8x8GPUs |
| num_envs: 8192 |
| headless: true |
| motion_h5_path: ??? |
| checkpoint: null |
| num_processes: 64 |
| main_process: true |
| process_id: 0 |
| timestamp: ${now:%Y%m%d_%H%M%S} |
| base_dir: /horizon-bucket/robot_lab/users/bo07.zhang-labs/expr_output/HoloMotionMotionTracking |
| experiment_dir: ${base_dir}/${project_name}/${timestamp}-${experiment_name} |
| save_dir: ${experiment_dir}/.hydra |
| output_dir: ${experiment_dir}/output |
| experiment_save_dir: /horizon-bucket/robot_lab/users/bo07.zhang-labs/expr_output/HoloMotionMotionTracking/HoloMotionMotrackV1.2/20260512_023208-training/motion_tracking/V1.3.0-RC4_8x8GPUs |
| _group_: |
| enabled: false |
| model_type: holomotion |
| headless: false |
| record_video: false |
| video_width: 1280 |
| video_height: 720 |
| video_fps: 30 |
| camera_tracking: true |
| camera_height_offset: 0.3 |
| camera_distance: 4.0 |
| camera_azimuth: 150.0 |
| camera_elevation: -20.0 |
| robot_xml_path: null |
| motion_npz_dir: null |
| motion_npz_path: null |
| ckpt_onnx_path: null |
| ckpt_onnx_root_dir: null |
| ckpt_onnx_names: null |
| dump_npzs: true |
| calc_per_clip_metrics: false |
| generate_report: false |
| metric_calculation: per_clip |
| dof_mode: '23' |
| failure_pos_err_thresh_m: 0.25 |
| ray_actors_per_gpu: 16 |
| ray_auto_reduce_actors_per_gpu: true |
| ray_actor_startup_probe_timeout_s: 300 |
| ray_multi_ckpt_mode: split |
| use_gpu: true |
| algo: |
| _target_: holomotion.src.algo.ppo_tf.PPOTF |
| _recursive_: false |
| config: |
| enable_online_eval: false |
| num_learning_iterations: 10001 |
| log_interval: 5 |
| save_interval: 1000 |
| export_policy: true |
| onnx_name_suffix: null |
| use_kv_cache: true |
| eval_interval: null |
| load_optimizer: true |
| headless: ${headless} |
| mixed_precision: null |
| dynamo_backend: inductor |
| init_at_random_ep_len: true |
| num_steps_per_env: 32 |
| num_learning_epochs: 3 |
| num_mini_batches: 24 |
| clip_param: 0.2 |
| gamma: 0.99 |
| lam: 0.95 |
| value_loss_coef: 1.0 |
| entropy_coef: 0.005 |
| anneal_entropy: false |
| zero_entropy_point: 1.0 |
| max_grad_norm: 1.0 |
| use_clipped_value_loss: true |
| desired_kl: 0.01 |
| init_noise_std: 1.0 |
| optimizer_type: AdamW |
| schedule: adaptive |
| actor_learning_rate: 3.0e-05 |
| critic_learning_rate: 5.0e-05 |
| adaptive_lr: |
| adapt_critic: false |
| lr_scaler: 1.2 |
| kl_high_factor: 2.0 |
| kl_low_factor: 0.5 |
| min_learning_rate: 1.0e-06 |
| max_learning_rate: 1.0 |
| distributed_update: |
| mode: scalable |
| lr_scale: |
| mode: sqrt_world_size |
| reference_world_size: 1 |
| max_scale: null |
| kl_early_stop: |
| enabled: true |
| signal: window_mean |
| window_size: 3 |
| factor: 1.8 |
| min_updates: 1 |
| normalize_advantage_per_mini_batch: false |
| global_advantage_norm: true |
| sampling_strategy: weighted_bin |
| curriculum: |
| p_a_ratio: 0.5 |
| ema_alpha_signal: 0.2 |
| ema_alpha_rel_improve: 0.2 |
| relative_eps: 1.0e-06 |
| dump_whole_window_scores_json: false |
| dump_whole_window_scores_every_swaps: 10 |
| weighted_bin: |
| bin_regex_patterns: |
| - regex: .*AMASS.* |
| ratio: 0.1 |
| - regex: .*pico.* |
| ratio: 0.1 |
| - regex: .*sonic.* |
| ratio: 0.1 |
| - regex: .*nyt.* |
| ratio: 0.1 |
| - regex: .*LAFAN1.* |
| ratio: 0.02 |
| - regex: .*MotionMillion.* |
| ratio: 0.02 |
| dump_sampled_keys: false |
| dump_sampled_keys_interval: 1000 |
| module_dict: |
| actor: ${modules.actor} |
| critic: ${modules.critic} |
| symmetry_loss: |
| enabled: false |
| coef: 0.1 |
| dof_sign_by_name: ${robot.dof_sign_by_name} |
| kl_coef: 0.0 |
| noise_std_type: log |
| fix_sigma: false |
| min_sigma: 0.01 |
| max_sigma: 1.2 |
| aux_state_pred: |
| enabled: true |
| w_keybody_contact: 0.01 |
| w_base_lin_vel: 0.01 |
| w_ref_keybody_rel_pos: 0.1 |
| w_robot_keybody_rel_pos: 0.1 |
| min_std: 0.01 |
| max_std: 2.0 |
| keybody_contact_names: |
| - left_hip_pitch_link |
| - right_hip_pitch_link |
| - left_knee_link |
| - right_knee_link |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| - left_elbow_link |
| - right_elbow_link |
| - left_wrist_yaw_link |
| - right_wrist_yaw_link |
| keybody_rel_pos_names: |
| - left_knee_link |
| - right_knee_link |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| - left_elbow_link |
| - right_elbow_link |
| - left_wrist_yaw_link |
| - right_wrist_yaw_link |
| dead_expert_margin_to_topk: |
| enabled: true |
| weight: 0.1 |
| aux_router_command_recon: |
| enabled: false |
| weight: 0.0 |
| hidden_dim: 0 |
| term_prefix: actor_ref_ |
| aux_router_switch_penalty: |
| enabled: false |
| weight: 0.0 |
| router_expert_orthogonal: |
| enabled: false |
| weight: 0.0 |
| min_active_usage: 0.001 |
| eps: 1.0e-08 |
| selected_expert_margin_to_unselected: |
| enabled: false |
| weight: 0.0 |
| target: 0.0 |
| moe_router: |
| routing_score_fn: softmax |
| routing_scale: 1.0 |
| use_dynamic_bias: false |
| bias_update_rate: 0.001 |
| expert_bias_clip: 0.0 |
| robot: |
| humanoid_type: unitree/G1/29dof |
| dof_obs_size: 29 |
| actions_dim: 29 |
| num_bodies: 30 |
| num_extend_bodies: 0 |
| undesired_contacts_regrex: ^(?!left_ankle_roll_link$)(?!right_ankle_roll_link$)(?!left_wrist_yaw_link$)(?!right_wrist_yaw_link$).+$ |
| torso_name: torso_link |
| anchor_body: torso_link |
| key_bodies: |
| - pelvis |
| - left_hip_roll_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - right_hip_roll_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - torso_link |
| - left_shoulder_roll_link |
| - left_elbow_link |
| - left_wrist_yaw_link |
| - right_shoulder_roll_link |
| - right_elbow_link |
| - right_wrist_yaw_link |
| key_dofs: |
| - left_knee_joint |
| - right_knee_joint |
| - left_elbow_joint |
| - right_elbow_joint |
| dof_names: |
| - left_hip_pitch_joint |
| - left_hip_roll_joint |
| - left_hip_yaw_joint |
| - left_knee_joint |
| - left_ankle_pitch_joint |
| - left_ankle_roll_joint |
| - right_hip_pitch_joint |
| - right_hip_roll_joint |
| - right_hip_yaw_joint |
| - right_knee_joint |
| - right_ankle_pitch_joint |
| - right_ankle_roll_joint |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_joint |
| arm_dof_names: |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_joint |
| waist_dof_names: |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| leg_dof_names: |
| - left_hip_pitch_joint |
| - left_hip_roll_joint |
| - left_hip_yaw_joint |
| - left_knee_joint |
| - left_ankle_pitch_joint |
| - left_ankle_roll_joint |
| - right_hip_pitch_joint |
| - right_hip_roll_joint |
| - right_hip_yaw_joint |
| - right_knee_joint |
| - right_ankle_pitch_joint |
| - right_ankle_roll_joint |
| left_arm_dof_names: |
| - left_shoulder_pitch_joint |
| - left_shoulder_roll_joint |
| - left_shoulder_yaw_joint |
| - left_elbow_joint |
| - left_wrist_roll_joint |
| - left_wrist_pitch_joint |
| - left_wrist_yaw_joint |
| right_arm_dof_names: |
| - right_shoulder_pitch_joint |
| - right_shoulder_roll_joint |
| - right_shoulder_yaw_joint |
| - right_elbow_joint |
| - right_wrist_roll_joint |
| - right_wrist_pitch_joint |
| - right_wrist_yaw_joint |
| left_leg_dof_names: |
| - left_hip_pitch_joint |
| - left_hip_roll_joint |
| - left_hip_yaw_joint |
| - left_knee_joint |
| - left_ankle_pitch_joint |
| - left_ankle_roll_joint |
| right_leg_dof_names: |
| - right_hip_pitch_joint |
| - right_hip_roll_joint |
| - right_hip_yaw_joint |
| - right_knee_joint |
| - right_ankle_pitch_joint |
| - right_ankle_roll_joint |
| upper_body_dof_names: ${robot.arm_dof_names} |
| lower_body_dof_names: |
| - left_hip_pitch_joint |
| - left_hip_roll_joint |
| - left_hip_yaw_joint |
| - left_knee_joint |
| - left_ankle_pitch_joint |
| - left_ankle_roll_joint |
| - right_hip_pitch_joint |
| - right_hip_roll_joint |
| - right_hip_yaw_joint |
| - right_knee_joint |
| - right_ankle_pitch_joint |
| - right_ankle_roll_joint |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| arm_body_names: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_link |
| head_hand_bodies: |
| - torso_link |
| - left_wrist_yaw_link |
| - right_wrist_yaw_link |
| torso_body_names: |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| leg_body_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| left_arm_body_names: |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| right_arm_body_names: |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_link |
| left_leg_body_names: |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| right_leg_body_names: |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| body_names: |
| - pelvis |
| - left_hip_pitch_link |
| - left_hip_roll_link |
| - left_hip_yaw_link |
| - left_knee_link |
| - left_ankle_pitch_link |
| - left_ankle_roll_link |
| - right_hip_pitch_link |
| - right_hip_roll_link |
| - right_hip_yaw_link |
| - right_knee_link |
| - right_ankle_pitch_link |
| - right_ankle_roll_link |
| - waist_yaw_link |
| - waist_roll_link |
| - torso_link |
| - left_shoulder_pitch_link |
| - left_shoulder_roll_link |
| - left_shoulder_yaw_link |
| - left_elbow_link |
| - left_wrist_roll_link |
| - left_wrist_pitch_link |
| - left_wrist_yaw_link |
| - right_shoulder_pitch_link |
| - right_shoulder_roll_link |
| - right_shoulder_yaw_link |
| - right_elbow_link |
| - right_wrist_roll_link |
| - right_wrist_pitch_link |
| - right_wrist_yaw_link |
| init_state: |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.8 |
| rot: |
| - 0.0 |
| - 0.929 |
| - 0.341 |
| - 0.298 |
| lin_vel: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| default_joint_angles: |
| left_hip_pitch_joint: -0.312 |
| left_hip_roll_joint: 0.0 |
| left_hip_yaw_joint: 0.0 |
| left_knee_joint: 0.669 |
| left_ankle_pitch_joint: -0.363 |
| left_ankle_roll_joint: 0.0 |
| right_hip_pitch_joint: -0.312 |
| right_hip_roll_joint: 0.0 |
| right_hip_yaw_joint: 0.0 |
| right_knee_joint: 0.669 |
| right_ankle_pitch_joint: -0.363 |
| right_ankle_roll_joint: 0.0 |
| waist_yaw_joint: 0.0 |
| waist_roll_joint: 0.0 |
| waist_pitch_joint: 0.1 |
| left_shoulder_pitch_joint: 0.2 |
| left_shoulder_roll_joint: 0.2 |
| left_shoulder_yaw_joint: 0.0 |
| left_elbow_joint: 0.6 |
| left_wrist_roll_joint: 0.0 |
| left_wrist_pitch_joint: 0.0 |
| left_wrist_yaw_joint: 0.0 |
| right_shoulder_pitch_joint: 0.2 |
| right_shoulder_roll_joint: -0.2 |
| right_shoulder_yaw_joint: 0.0 |
| right_elbow_joint: 0.6 |
| right_wrist_roll_joint: 0.0 |
| right_wrist_pitch_joint: 0.0 |
| right_wrist_yaw_joint: 0.0 |
| actuators: |
| actuator_type: unitree_erfi |
| ema_filter_enabled: false |
| ema_filter_alpha: 1.0 |
| all_joints: |
| joint_names_expr: |
| - .*_hip_yaw_joint |
| - .*_hip_roll_joint |
| - .*_hip_pitch_joint |
| - .*_knee_joint |
| - .*_ankle_pitch_joint |
| - .*_ankle_roll_joint |
| - waist_yaw_joint |
| - waist_roll_joint |
| - waist_pitch_joint |
| - .*_shoulder_pitch_joint |
| - .*_shoulder_roll_joint |
| - .*_shoulder_yaw_joint |
| - .*_elbow_joint |
| - .*_wrist_roll_joint |
| - .*_wrist_pitch_joint |
| - .*_wrist_yaw_joint |
| effort_limit_sim: |
| .*_hip_yaw_joint: 88.0 |
| .*_hip_roll_joint: 139.0 |
| .*_hip_pitch_joint: 88.0 |
| .*_knee_joint: 139.0 |
| .*_ankle_pitch_joint: 50.0 |
| .*_ankle_roll_joint: 50.0 |
| waist_yaw_joint: 88.0 |
| waist_roll_joint: 50.0 |
| waist_pitch_joint: 50.0 |
| .*_shoulder_pitch_joint: 25.0 |
| .*_shoulder_roll_joint: 25.0 |
| .*_shoulder_yaw_joint: 25.0 |
| .*_elbow_joint: 25.0 |
| .*_wrist_roll_joint: 25.0 |
| .*_wrist_pitch_joint: 5.0 |
| .*_wrist_yaw_joint: 5.0 |
| velocity_limit_sim: |
| .*_hip_yaw_joint: 32.0 |
| .*_hip_roll_joint: 20.0 |
| .*_hip_pitch_joint: 32.0 |
| .*_knee_joint: 20.0 |
| .*_ankle_pitch_joint: 37.0 |
| .*_ankle_roll_joint: 37.0 |
| waist_yaw_joint: 32.0 |
| waist_roll_joint: 37.0 |
| waist_pitch_joint: 37.0 |
| .*_shoulder_pitch_joint: 37.0 |
| .*_shoulder_roll_joint: 37.0 |
| .*_shoulder_yaw_joint: 37.0 |
| .*_elbow_joint: 37.0 |
| .*_wrist_roll_joint: 37.0 |
| .*_wrist_pitch_joint: 22.0 |
| .*_wrist_yaw_joint: 22.0 |
| stiffness: |
| .*_hip_pitch_joint: 40.17923847 |
| .*_hip_roll_joint: 99.09842778 |
| .*_hip_yaw_joint: 40.17923847 |
| .*_knee_joint: 99.09842778 |
| .*_ankle_pitch_joint: 28.5012462 |
| .*_ankle_roll_joint: 28.5012462 |
| waist_yaw_joint: 40.17923847 |
| waist_roll_joint: 28.5012462 |
| waist_pitch_joint: 28.5012462 |
| .*_shoulder_pitch_joint: 14.2506231 |
| .*_shoulder_roll_joint: 14.2506231 |
| .*_shoulder_yaw_joint: 14.2506231 |
| .*_elbow_joint: 14.2506231 |
| .*_wrist_roll_joint: 14.25062309787429 |
| .*_wrist_pitch_joint: 16.77832748089279 |
| .*_wrist_yaw_joint: 16.77832748089279 |
| damping: |
| .*_hip_pitch_joint: 2.55788977 |
| .*_hip_roll_joint: 6.30880185 |
| .*_hip_yaw_joint: 2.55788977 |
| .*_knee_joint: 6.30880185 |
| .*_ankle_pitch_joint: 1.81444569 |
| .*_ankle_roll_joint: 1.81444569 |
| waist_yaw_joint: 2.55788977 |
| waist_roll_joint: 1.81444569 |
| waist_pitch_joint: 1.81444569 |
| .*_shoulder_pitch_joint: 0.90722284 |
| .*_shoulder_roll_joint: 0.90722284 |
| .*_shoulder_yaw_joint: 0.90722284 |
| .*_elbow_joint: 0.90722284 |
| .*_wrist_roll_joint: 0.907222843292423 |
| .*_wrist_pitch_joint: 1.06814150219 |
| .*_wrist_yaw_joint: 1.06814150219 |
| armature: |
| .*_hip_pitch_joint: 0.01017752 |
| .*_hip_roll_joint: 0.025101925 |
| .*_hip_yaw_joint: 0.01017752 |
| .*_knee_joint: 0.025101925 |
| .*_ankle_pitch_joint: 0.00721945 |
| .*_ankle_roll_joint: 0.00721945 |
| waist_yaw_joint: 0.01017752 |
| waist_roll_joint: 0.00721945 |
| waist_pitch_joint: 0.00721945 |
| .*_shoulder_pitch_joint: 0.003609725 |
| .*_shoulder_roll_joint: 0.003609725 |
| .*_shoulder_yaw_joint: 0.003609725 |
| .*_elbow_joint: 0.003609725 |
| .*_wrist_roll_joint: 0.003609725 |
| .*_wrist_pitch_joint: 0.00425 |
| .*_wrist_yaw_joint: 0.00425 |
| action_scale: |
| .*_hip_pitch_joint: 0.548 |
| .*_hip_roll_joint: 0.351 |
| .*_hip_yaw_joint: 0.548 |
| .*_knee_joint: 0.351 |
| .*_ankle_pitch_joint: 0.439 |
| .*_ankle_roll_joint: 0.439 |
| waist_yaw_joint: 0.548 |
| waist_roll_joint: 0.439 |
| waist_pitch_joint: 0.439 |
| .*_shoulder_pitch_joint: 0.439 |
| .*_shoulder_roll_joint: 0.439 |
| .*_shoulder_yaw_joint: 0.439 |
| .*_elbow_joint: 0.439 |
| .*_wrist_roll_joint: 0.439 |
| .*_wrist_pitch_joint: 0.075 |
| .*_wrist_yaw_joint: 0.075 |
| dof_sign_by_name: |
| left_hip_pitch_joint: 1.0 |
| left_hip_roll_joint: -1.0 |
| left_hip_yaw_joint: -1.0 |
| left_knee_joint: 1.0 |
| left_ankle_pitch_joint: 1.0 |
| left_ankle_roll_joint: -1.0 |
| right_hip_pitch_joint: 1.0 |
| right_hip_roll_joint: -1.0 |
| right_hip_yaw_joint: -1.0 |
| right_knee_joint: 1.0 |
| right_ankle_pitch_joint: 1.0 |
| right_ankle_roll_joint: -1.0 |
| waist_yaw_joint: -1.0 |
| waist_roll_joint: -1.0 |
| waist_pitch_joint: 1.0 |
| left_shoulder_pitch_joint: 1.0 |
| left_shoulder_roll_joint: -1.0 |
| left_shoulder_yaw_joint: -1.0 |
| left_elbow_joint: 1.0 |
| left_wrist_roll_joint: -1.0 |
| left_wrist_pitch_joint: 1.0 |
| left_wrist_yaw_joint: -1.0 |
| right_shoulder_pitch_joint: 1.0 |
| right_shoulder_roll_joint: -1.0 |
| right_shoulder_yaw_joint: -1.0 |
| right_elbow_joint: 1.0 |
| right_wrist_roll_joint: -1.0 |
| right_wrist_pitch_joint: 1.0 |
| right_wrist_yaw_joint: -1.0 |
| asset: |
| collapse_fixed_joints: true |
| replace_cylinder_with_capsule: true |
| flip_visual_attachments: false |
| max_angular_velocity: 1000.0 |
| max_linear_velocity: 1000.0 |
| density: 0.001 |
| angular_damping: 0.0 |
| linear_damping: 0.0 |
| asset_root: ./ |
| urdf_file: assets/robots/${robot.humanoid_type}/g1_29dof_rev_1_0.urdf |
| assetFileName: assets/robots/${robot.humanoid_type}/g1_29dof_rev_1_0.xml |
| fix_base_link: false |
| force_usd_conversion: true |
| extend_config: [] |
| motion: |
| asset: |
| assetRoot: ./ |
| assetFileName: assets/robots/${robot.humanoid_type}/g1_29dof_rev_1_0.xml |
| sampling_strategy: ${algo.config.sampling_strategy} |
| weighted_bin: ${algo.config.weighted_bin} |
| curriculum: ${algo.config.curriculum} |
| dump_sampled_motion_keys: false |
| dump_sampled_motion_keys_interval: 1 |
| dump_sampled_motion_keys_dir: sampled_motion_cache_keys |
| max_frame_length: 300 |
| min_frame_length: 50 |
| handpicked_motion_names: null |
| excluded_motion_names: null |
| world_frame_normalization: true |
| backend: hdf5_v2 |
| train_hdf5_roots: ${train_hdf5_roots} |
| val_hdf5_roots: ${train_hdf5_roots} |
| dof_names: ${robot.dof_names} |
| body_names: ${robot.body_names} |
| key_bodies: ${robot.key_bodies} |
| extend_config: ${robot.extend_config} |
| dataloader: |
| num_workers: 2 |
| prefetch_factor: 1 |
| pin_memory: true |
| persistent_workers: false |
| timeout: 600 |
| fk_robot_file_path: ${robot.asset.urdf_file} |
| fk_vel_smoothing_sigma: 2.0 |
| online_filter: |
| enabled: false |
| butter_order: 4 |
| butter_cutoff_hz_pool: [] |
| cache: |
| batch_progress_bar: false |
| max_num_clips: ${num_envs} |
| device: cuda |
| swap_interval_steps: ${robot.motion.max_frame_length} |
| allowed_prefixes: |
| - ref_ |
| - ft_ref_ |
| env: |
| _target_: holomotion.src.env.motion_tracking.MotionTrackingEnv |
| _recursive_: false |
| config: |
| experiment_name: ${experiment_name} |
| num_envs: ${num_envs} |
| env_spacing: 2.5 |
| replicate_physics: true |
| headless: ${headless} |
| num_processes: ${num_processes} |
| main_process: ${main_process} |
| process_id: ${process_id} |
| ckpt_dir: null |
| disable_ref_viz: false |
| eval_log_dir: null |
| save_rendering_dir: /horizon-bucket/robot_lab/users/bo07.zhang-labs/expr_output/HoloMotionMotionTracking/HoloMotionMotrackV1.2/20260512_023208-training/motion_tracking/V1.3.0-RC4_8x8GPUs/renderings_training |
| robot: ${robot} |
| domain_rand: ${domain_rand} |
| rewards: ${rewards} |
| terrain: ${terrain} |
| obs: ${obs} |
| terminations: ${terminations} |
| simulation: |
| episode_length_s: 10 |
| sim_freq: 200 |
| control_decimation: 4 |
| physx: |
| bounce_threshold_velocity: 0.5 |
| gpu_max_rigid_patch_count: 327680 |
| scene: |
| terrain: ${terrain} |
| lighting: |
| distant_light_intensity: 3000.0 |
| dome_light_intensity: 1000.0 |
| contact_sensor: |
| history_length: 3 |
| force_threshold: 10.0 |
| track_air_time: true |
| debug_vis: false |
| actions: |
| dof_pos: |
| type: joint_position |
| params: |
| asset_name: robot |
| joint_names: |
| - .* |
| use_default_offset: true |
| scale: ${robot.actuators.action_scale} |
| commands: |
| ref_motion: |
| type: MotionCommandCfg |
| params: |
| command_obs_name: bydmmc_ref_motion |
| motion_lib_cfg: ${robot.motion} |
| urdf_dof_names: ${robot.dof_names} |
| urdf_body_names: ${robot.body_names} |
| arm_dof_names: ${robot.arm_dof_names} |
| waist_dof_names: ${robot.waist_dof_names} |
| leg_dof_names: ${robot.leg_dof_names} |
| arm_body_names: ${robot.arm_body_names} |
| torso_body_names: ${robot.torso_body_names} |
| leg_body_names: ${robot.leg_body_names} |
| anchor_bodylink_name: ${robot.anchor_body} |
| asset_name: robot |
| debug_vis: true |
| root_pose_perturb_range: ${domain_rand.motion_init_perturb.root_pose_perturb_range} |
| root_vel_perturb_range: ${domain_rand.motion_init_perturb.root_vel_perturb_range} |
| dof_pos_perturb_range: ${domain_rand.motion_init_perturb.dof_pos_perturb_range} |
| dof_vel_perturb_range: ${domain_rand.motion_init_perturb.dof_vel_perturb_range} |
| resample_time_interval_s: 100 |
| n_fut_frames: ${obs.n_fut_frames} |
| target_fps: 50 |
| normalization: |
| clip_actions: 100.0 |
| clip_observations: 100.0 |
| resample_motion_when_training: true |
| curriculum: |
| enabled: false |
| robot_friction_completion_rate: |
| enabled: true |
| func: robot_friction_range_by_completion_rate |
| params: |
| num_updates: 5 |
| cr_thresholds: |
| - 0.1 |
| - 0.2 |
| - 0.28 |
| - 0.34 |
| - 0.4 |
| static_friction_target: |
| - 0.3 |
| - 1.6 |
| dynamic_friction_target: |
| - 0.3 |
| - 1.2 |
| body_names: .* |
| restitution_range: |
| - 0.0 |
| - 0.5 |
| num_buckets: 64 |
| rigid_body_com_completion_rate: |
| enabled: true |
| func: rigid_body_com_by_completion_rate |
| params: |
| num_updates: 5 |
| cr_thresholds: |
| - 0.1 |
| - 0.2 |
| - 0.28 |
| - 0.34 |
| - 0.4 |
| state_prefix: _cr_curr |
| asset_name: robot |
| body_names: torso_link |
| com_range_target: |
| x: |
| - -0.025 |
| - 0.025 |
| 'y': |
| - -0.05 |
| - 0.05 |
| z: |
| - -0.05 |
| - 0.05 |
| default_dof_pos_bias_completion_rate: |
| enabled: true |
| func: default_dof_pos_bias_by_completion_rate |
| params: |
| num_updates: 5 |
| cr_thresholds: |
| - 0.1 |
| - 0.2 |
| - 0.28 |
| - 0.34 |
| - 0.4 |
| state_prefix: _cr_curr |
| joint_names: |
| - .* |
| pos_distribution_params_target: |
| - -0.01 |
| - 0.01 |
| operation: add |
| distribution: uniform |
| push_by_setting_velocity_completion_rate: |
| enabled: true |
| func: isaaclab_mdp.modify_term_cfg |
| params: |
| address: events.push_by_setting_velocity.params |
| modify_fn: push_by_setting_velocity_range_by_completion_rate |
| modify_params: |
| num_updates: 3 |
| cr_thresholds: |
| - 0.2 |
| - 0.3 |
| - 0.4 |
| velocity_range_target: |
| x: |
| - -0.5 |
| - 0.5 |
| 'y': |
| - -0.5 |
| - 0.5 |
| z: |
| - -0.2 |
| - 0.2 |
| roll: |
| - -0.52 |
| - 0.52 |
| pitch: |
| - -0.52 |
| - 0.52 |
| yaw: |
| - -0.78 |
| - 0.78 |
| randomize_actuator_gains_completion_rate: |
| enabled: true |
| func: randomize_actuator_gains_by_completion_rate |
| params: |
| num_updates: 3 |
| cr_thresholds: |
| - 0.2 |
| - 0.3 |
| - 0.4 |
| asset_name: robot |
| body_names: .* |
| stiffness_distribution_params_target: |
| - 0.9 |
| - 1.1 |
| damping_distribution_params_target: |
| - 0.9 |
| - 1.1 |
| operation: scale |
| distribution: uniform |
| action_rate_l2_completion_rate: |
| enabled: true |
| func: reward_term_weight_by_completion_rate |
| params: |
| reward_term_name: action_rate_l2 |
| final_weight: -0.1 |
| start_scale: 0.1 |
| num_updates: 5 |
| cr_thresholds: |
| - 0.1 |
| - 0.2 |
| - 0.28 |
| - 0.34 |
| - 0.4 |
| joint_pos_limits_completion_rate: |
| enabled: true |
| func: reward_term_weight_by_completion_rate |
| params: |
| reward_term_name: joint_pos_limits |
| final_weight: -10.0 |
| start_scale: 0.1 |
| num_updates: 5 |
| cr_thresholds: |
| - 0.1 |
| - 0.2 |
| - 0.28 |
| - 0.34 |
| - 0.4 |
| undesired_contacts_completion_rate: |
| enabled: true |
| func: reward_term_weight_by_completion_rate |
| params: |
| reward_term_name: undesired_contacts |
| final_weight: -0.1 |
| start_scale: 0.1 |
| num_updates: 5 |
| cr_thresholds: |
| - 0.1 |
| - 0.2 |
| - 0.28 |
| - 0.34 |
| - 0.4 |
| terminations: |
| time_out: |
| time_out: true |
| ref_gravity_projection_far: |
| params: |
| threshold: 0.8 |
| ref_prefix: ${rewards._config.reward_prefix} |
| keybody_ref_z_far: |
| params: |
| threshold: 0.25 |
| ref_prefix: ${rewards._config.reward_prefix} |
| keybody_names: |
| - pelvis |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| - left_wrist_yaw_link |
| - right_wrist_yaw_link |
| keybody_ref_pos_far: |
| params: |
| threshold: 0.25 |
| ref_prefix: ${rewards._config.reward_prefix} |
| keybody_names: |
| - pelvis |
| obs: |
| context_length: 1 |
| n_fut_frames: 10 |
| target_fps: 50 |
| actor_obs_prefix: ref_ |
| critic_obs_prefix: ref_ |
| obs_groups: |
| unified: |
| atomic_obs_list: |
| - actor_ref_gravity_projection_cur: |
| func: ref_gravity_projection_cur |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_gravity_projection_cur.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_gravity_projection_cur.n_max} |
| - actor_ref_gravity_projection_fut: |
| func: ref_gravity_projection_fut |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_gravity_projection_fut.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_gravity_projection_fut.n_max} |
| - actor_ref_base_linvel_cur: |
| func: ref_base_linvel_cur |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_max} |
| n_min_z: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_min_z} |
| n_max_z: ${domain_rand.obs_noise.actor_ref_base_linvel_cur.n_max_z} |
| - actor_ref_base_linvel_fut: |
| func: ref_base_linvel_fut |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_max} |
| n_min_z: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_min_z} |
| n_max_z: ${domain_rand.obs_noise.actor_ref_base_linvel_fut.n_max_z} |
| - actor_ref_base_angvel_cur: |
| func: ref_base_angvel_cur |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_max} |
| n_min_z: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_min_z} |
| n_max_z: ${domain_rand.obs_noise.actor_ref_base_angvel_cur.n_max_z} |
| - actor_ref_base_angvel_fut: |
| func: ref_base_angvel_fut |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_max} |
| n_min_z: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_min_z} |
| n_max_z: ${domain_rand.obs_noise.actor_ref_base_angvel_fut.n_max_z} |
| - actor_ref_dof_pos_cur: |
| func: ref_dof_pos_cur |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_dof_pos_cur.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_dof_pos_cur.n_max} |
| - actor_ref_dof_pos_fut: |
| func: ref_dof_pos_fut |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_dof_pos_fut.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_dof_pos_fut.n_max} |
| - actor_ref_motion_filter_cutoff_hz: |
| func: ref_motion_filter_cutoff_hz |
| - actor_ref_root_height_cur: |
| func: ref_root_height_cur |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_root_height_cur.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_root_height_cur.n_max} |
| - actor_ref_root_height_fut: |
| func: ref_root_height_fut |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_root_height_fut.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_root_height_fut.n_max} |
| - actor_ref_keybody_rel_pos_cur: |
| func: ref_keybody_rel_pos_cur |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| keybody_names: |
| - left_knee_link |
| - right_knee_link |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| - left_elbow_link |
| - right_elbow_link |
| - left_wrist_yaw_link |
| - right_wrist_yaw_link |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_cur.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_cur.n_max} |
| - actor_ref_keybody_rel_pos_fut: |
| func: ref_keybody_rel_pos_fut |
| params: |
| ref_prefix: ${obs.actor_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| keybody_names: |
| - left_knee_link |
| - right_knee_link |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| - left_elbow_link |
| - right_elbow_link |
| - left_wrist_yaw_link |
| - right_wrist_yaw_link |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_fut.n_min} |
| n_max: ${domain_rand.obs_noise.actor_ref_keybody_rel_pos_fut.n_max} |
| - actor_projected_gravity: |
| func: projected_gravity |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_projected_gravity.n_min} |
| n_max: ${domain_rand.obs_noise.actor_projected_gravity.n_max} |
| - actor_rel_robot_root_ang_vel: |
| func: rel_robot_root_ang_vel |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_rel_robot_root_ang_vel.n_min} |
| n_max: ${domain_rand.obs_noise.actor_rel_robot_root_ang_vel.n_max} |
| - actor_dof_pos: |
| func: dof_pos |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_dof_pos.n_min} |
| n_max: ${domain_rand.obs_noise.actor_dof_pos.n_max} |
| - actor_dof_vel: |
| func: dof_vel |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| noise: |
| type: AdditiveUniformNoiseCfg |
| params: |
| n_min: ${domain_rand.obs_noise.actor_dof_vel.n_min} |
| n_max: ${domain_rand.obs_noise.actor_dof_vel.n_max} |
| - actor_last_action: |
| func: last_action |
| history_length: ${obs.context_length} |
| flatten_history_dim: false |
| - critic_ref_dof_pos_cur: |
| func: ref_dof_pos_cur |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| - critic_ref_dof_pos_fut: |
| func: ref_dof_pos_fut |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| - critic_ref_root_height_fut: |
| func: ref_root_height_fut |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| - critic_ref_root_height_cur: |
| func: ref_root_height_cur |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| - critic_global_anchor_diff: |
| func: global_anchor_diff |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| - critic_ref_motion_cur_heading_aligned_root_pos: |
| func: ref_motion_cur_heading_aligned_root_pos |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| - critic_ref_motion_fut_heading_aligned_root_pos: |
| func: ref_motion_fut_heading_aligned_root_pos |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| - critic_ref_motion_cur_heading_aligned_root_rot6d: |
| func: ref_motion_cur_heading_aligned_root_rot6d |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| - critic_ref_motion_fut_heading_aligned_root_rot6d: |
| func: ref_motion_fut_heading_aligned_root_rot6d |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| - critic_ref_motion_cur_heading_aligned_root_lin_vel: |
| func: ref_motion_cur_heading_aligned_root_lin_vel |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| - critic_ref_motion_fut_heading_aligned_root_lin_vel: |
| func: ref_motion_fut_heading_aligned_root_lin_vel |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| - critic_ref_motion_cur_heading_aligned_root_ang_vel: |
| func: ref_motion_cur_heading_aligned_root_ang_vel |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| - critic_ref_motion_fut_heading_aligned_root_ang_vel: |
| func: ref_motion_fut_heading_aligned_root_ang_vel |
| params: |
| ref_prefix: ${obs.critic_obs_prefix} |
| num_frames: ${obs.n_fut_frames} |
| - critic_rel_robot_root_lin_vel: |
| func: rel_robot_root_lin_vel |
| - critic_rel_robot_root_ang_vel: |
| func: rel_robot_root_ang_vel |
| - critic_global_robot_bodylink_lin_vel_flat: |
| func: global_robot_bodylink_lin_vel_flat |
| - critic_global_robot_bodylink_ang_vel_flat: |
| func: global_robot_bodylink_ang_vel_flat |
| - critic_root_rel_robot_bodylink_pos_flat: |
| func: root_rel_robot_bodylink_pos_flat |
| - critic_root_rel_robot_bodylink_rot_mat_flat: |
| func: root_rel_robot_bodylink_rot_mat_flat |
| - critic_dof_pos: |
| func: dof_pos |
| - critic_dof_vel: |
| func: dof_vel |
| - critic_last_action: |
| func: last_action |
| enable_corruption: true |
| concatenate_terms: false |
| rewards: |
| _config: |
| reward_prefix: ref_ |
| is_alive: |
| weight: 0.1 |
| params: {} |
| root_pos_xy_tracking_exp: |
| weight: 0.0 |
| params: |
| std: 0.2 |
| ref_prefix: ${rewards._config.reward_prefix} |
| root_rot_tracking_exp: |
| weight: 0.0 |
| params: |
| std: 0.4 |
| ref_prefix: ${rewards._config.reward_prefix} |
| root_rel_keybodylink_pos_tracking_l2_exp: |
| weight: 1.0 |
| params: |
| keybody_names: ${robot.key_bodies} |
| std: 0.3 |
| ref_prefix: ${rewards._config.reward_prefix} |
| root_rel_keybodylink_rot_tracking_l2_exp: |
| weight: 1.0 |
| params: |
| keybody_names: ${robot.key_bodies} |
| std: 0.4 |
| ref_prefix: ${rewards._config.reward_prefix} |
| global_keybodylink_lin_vel_tracking_l2_exp: |
| weight: 1.0 |
| params: |
| keybody_names: ${robot.key_bodies} |
| std: 1.0 |
| ref_prefix: ${rewards._config.reward_prefix} |
| global_keybodylink_ang_vel_tracking_l2_exp: |
| weight: 1.0 |
| params: |
| keybody_names: ${robot.key_bodies} |
| std: 3.14 |
| ref_prefix: ${rewards._config.reward_prefix} |
| action_rate_l2: |
| weight: -0.2 |
| params: {} |
| joint_acc_l2: |
| weight: -1.0e-06 |
| params: {} |
| joint_pos_limits: |
| weight: -10.0 |
| params: |
| asset_cfg: |
| _target_: isaaclab.managers.scene_entity_cfg.SceneEntityCfg |
| name: robot |
| joint_names: |
| - .* |
| undesired_contacts: |
| weight: -0.1 |
| params: |
| threshold: 1.0 |
| sensor_cfg: |
| _target_: isaaclab.managers.scene_entity_cfg.SceneEntityCfg |
| name: contact_forces |
| body_names: |
| - ${robot.undesired_contacts_regrex} |
| root_lin_vel_tracking_rel_ratio_exp: |
| weight: 1.0 |
| params: |
| std: 1.0 |
| eps: 0.1 |
| ref_prefix: ${rewards._config.reward_prefix} |
| root_ang_vel_tracking_rel_ratio_exp: |
| weight: 1.0 |
| params: |
| std: 1.0 |
| eps: 0.1 |
| ref_prefix: ${rewards._config.reward_prefix} |
| local_reward_point_body_pos_tracking_exp: |
| weight: 2.0 |
| params: |
| std: 0.1 |
| ref_prefix: ${rewards._config.reward_prefix} |
| reward_point_body: |
| - torso_link |
| - left_wrist_yaw_link |
| - right_wrist_yaw_link |
| - left_ankle_roll_link |
| - right_ankle_roll_link |
| reward_point_body_offset: |
| - - 0.0 |
| - 0.0 |
| - 0.5 |
| - - 0.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 0.0 |
| - - 0.0 |
| - 0.0 |
| - 0.0 |
| point_weights: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| domain_rand: |
| action_delay: |
| enabled: true |
| min_delay: 0 |
| max_delay: 2 |
| erfi: |
| enabled: false |
| rfi_probability: 0.5 |
| rfi_lim: 0.1 |
| randomize_rfi_lim: true |
| rfi_lim_range: |
| - 0.5 |
| - 1.5 |
| rao_lim: 0.1 |
| obs_noise: |
| actor_ref_gravity_projection_cur: |
| n_min: -0.1 |
| n_max: 0.1 |
| actor_ref_gravity_projection_fut: |
| n_min: -0.1 |
| n_max: 0.1 |
| actor_ref_base_linvel_cur: |
| n_min: -0.1 |
| n_max: 0.1 |
| n_min_z: -0.05 |
| n_max_z: 0.05 |
| actor_ref_base_linvel_fut: |
| n_min: -0.1 |
| n_max: 0.1 |
| n_min_z: -0.05 |
| n_max_z: 0.05 |
| actor_ref_base_angvel_cur: |
| n_min: -0.1 |
| n_max: 0.1 |
| n_min_z: -0.1 |
| n_max_z: 0.1 |
| actor_ref_base_angvel_fut: |
| n_min: -0.1 |
| n_max: 0.1 |
| n_min_z: -0.1 |
| n_max_z: 0.1 |
| actor_ref_dof_pos_cur: |
| n_min: -0.05 |
| n_max: 0.05 |
| actor_ref_dof_pos_fut: |
| n_min: -0.05 |
| n_max: 0.05 |
| actor_ref_root_height_cur: |
| n_min: -0.1 |
| n_max: 0.1 |
| actor_ref_root_height_fut: |
| n_min: -0.1 |
| n_max: 0.1 |
| actor_ref_keybody_rel_pos_cur: |
| n_min: -0.1 |
| n_max: 0.1 |
| actor_ref_keybody_rel_pos_fut: |
| n_min: -0.1 |
| n_max: 0.1 |
| actor_projected_gravity: |
| n_min: -0.1 |
| n_max: 0.1 |
| actor_rel_robot_root_ang_vel: |
| n_min: -0.2 |
| n_max: 0.2 |
| actor_dof_pos: |
| n_min: -0.01 |
| n_max: 0.01 |
| actor_dof_vel: |
| n_min: -0.5 |
| n_max: 0.5 |
| motion_init_perturb: |
| root_pose_perturb_range: |
| x: |
| - -0.05 |
| - 0.05 |
| 'y': |
| - -0.05 |
| - 0.05 |
| z: |
| - -0.01 |
| - 0.01 |
| roll: |
| - -0.1 |
| - 0.1 |
| pitch: |
| - -0.1 |
| - 0.1 |
| yaw: |
| - -0.2 |
| - 0.2 |
| root_vel_perturb_range: |
| x: |
| - -0.5 |
| - 0.5 |
| 'y': |
| - -0.5 |
| - 0.5 |
| z: |
| - -0.2 |
| - 0.2 |
| roll: |
| - -0.5 |
| - 0.5 |
| pitch: |
| - -0.5 |
| - 0.5 |
| yaw: |
| - -0.2 |
| - 0.2 |
| dof_pos_perturb_range: |
| - -0.1 |
| - 0.1 |
| dof_vel_perturb_range: |
| - 0.0 |
| - 0.0 |
| default_dof_pos_bias: |
| mode: startup |
| params: |
| joint_names: |
| - .* |
| pos_distribution_params: |
| - -0.01 |
| - 0.01 |
| operation: add |
| distribution: uniform |
| rigid_body_com: |
| mode: startup |
| params: |
| body_names: torso_link |
| com_range: |
| x: |
| - -0.075 |
| - 0.075 |
| 'y': |
| - -0.1 |
| - 0.1 |
| z: |
| - -0.1 |
| - 0.1 |
| randomize_mass: |
| mode: startup |
| params: |
| body_names: |
| - pelvis |
| - torso_link |
| mass_range: |
| - -1.0 |
| - 2.0 |
| rigid_body_material: |
| mode: startup |
| params: |
| body_names: .* |
| static_friction_range: |
| - 0.3 |
| - 1.6 |
| dynamic_friction_range: |
| - 0.3 |
| - 1.2 |
| restitution_range: |
| - 0.0 |
| - 0.5 |
| num_buckets: 64 |
| push_by_setting_velocity: |
| mode: interval |
| interval_range_s: |
| - 1.0 |
| - 3.0 |
| params: |
| velocity_range: |
| x: |
| - -0.5 |
| - 0.5 |
| 'y': |
| - -0.5 |
| - 0.5 |
| z: |
| - -0.2 |
| - 0.2 |
| roll: |
| - -0.52 |
| - 0.52 |
| pitch: |
| - -0.52 |
| - 0.52 |
| yaw: |
| - -0.78 |
| - 0.78 |
| randomize_actuator_gains: |
| mode: startup |
| params: |
| asset_name: robot |
| body_names: .* |
| stiffness_distribution_params: |
| - 0.9 |
| - 1.1 |
| damping_distribution_params: |
| - 0.9 |
| - 1.1 |
| operation: scale |
| distribution: uniform |
| terrain: |
| terrain_type: generator |
| prim_path: /World/ground |
| static_friction: 1.0 |
| dynamic_friction: 1.0 |
| restitution: 0.0 |
| friction_combine_mode: multiply |
| restitution_combine_mode: multiply |
| debug_vis: false |
| max_init_terrain_level: 4 |
| random_spawn: true |
| random_spawn_margin: 4.0 |
| generator: |
| num_rows: 4 |
| num_cols: 4 |
| size: |
| - 20.0 |
| - 20.0 |
| border_width: 1000.0 |
| horizontal_scale: 0.1 |
| vertical_scale: 0.005 |
| slope_threshold: null |
| difficulty_range: |
| - 0.0 |
| - 1.0 |
| color_scheme: height |
| sub_terrains: |
| rough: |
| type: random_uniform |
| proportion: 1.0 |
| noise_range: |
| - 0.0 |
| - 0.04 |
| noise_step: 0.05 |
| downsampled_scale: 1.0 |
| visual_material: |
| type: color |
| diffuse_color: |
| - 0.25 |
| - 0.25 |
| - 0.25 |
| metallic: 0.0 |
| roughness: 0.5 |
| modules: |
| actor: |
| type: ReferenceRoutedGroupedMoETransformerPolicy |
| use_checkpointing: false |
| num_fine_experts: 1024 |
| num_shared_experts: 1 |
| top_k: 2 |
| moe_loss_coef: 0.0 |
| routing_score_fn: ${algo.config.moe_router.routing_score_fn} |
| routing_scale: ${algo.config.moe_router.routing_scale} |
| use_dynamic_bias: ${algo.config.moe_router.use_dynamic_bias} |
| bias_update_rate: ${algo.config.moe_router.bias_update_rate} |
| expert_bias_clip: ${algo.config.moe_router.expert_bias_clip} |
| obs_embed_mlp_hidden: 2048 |
| router_embed_mlp_hidden: 2048 |
| d_model: 512 |
| n_heads: 8 |
| n_kv_heads: 4 |
| use_gated_attn: true |
| n_layers: 1 |
| ff_mult: 0.5 |
| ff_mult_dense: 4 |
| attn_dropout: 0.0 |
| mlp_dropout: 0.0 |
| max_ctx_len: 32 |
| aux_sys_id_weight: 0.0 |
| aux_dynamics_weight: 0.0 |
| obs_norm: |
| enabled: true |
| epsilon: 1.0e-08 |
| update_method: ema |
| ema_momentum: 0.0001 |
| update_at_train: true |
| update_at_eval: false |
| enable_clipping: true |
| clip_range: 10.0 |
| sync_interval_steps: 4 |
| obs_schema: |
| flattened_obs: |
| seq_len: ${obs.context_length} |
| terms: |
| - unified/actor_ref_gravity_projection_cur |
| - unified/actor_ref_base_linvel_cur |
| - unified/actor_ref_base_angvel_cur |
| - unified/actor_ref_dof_pos_cur |
| - unified/actor_ref_root_height_cur |
| - unified/actor_projected_gravity |
| - unified/actor_rel_robot_root_ang_vel |
| - unified/actor_dof_pos |
| - unified/actor_dof_vel |
| - unified/actor_last_action |
| flattened_obs_fut: |
| seq_len: ${obs.n_fut_frames} |
| terms: |
| - unified/actor_ref_dof_pos_fut |
| - unified/actor_ref_root_height_fut |
| - unified/actor_ref_gravity_projection_fut |
| - unified/actor_ref_base_linvel_fut |
| - unified/actor_ref_base_angvel_fut |
| output_dim: robot_action_dim |
| dense_layer_at_first: false |
| critic: |
| type: MLP |
| obs_norm: |
| enabled: true |
| epsilon: 1.0e-08 |
| update_method: ema |
| ema_momentum: 0.0001 |
| update_at_train: true |
| update_at_eval: false |
| enable_clipping: true |
| clip_range: 10.0 |
| sync_interval_steps: 4 |
| hidden_norm: rmsnorm |
| layer_config: |
| hidden_dims: |
| - 2048 |
| - 2048 |
| - 2048 |
| - 2048 |
| activation: SiLU |
| obs_schema: |
| flattened_obs: |
| seq_len: 1 |
| terms: |
| - unified/critic_ref_dof_pos_cur |
| - unified/critic_global_anchor_diff |
| - unified/critic_ref_motion_cur_heading_aligned_root_pos |
| - unified/critic_ref_motion_cur_heading_aligned_root_rot6d |
| - unified/critic_ref_motion_cur_heading_aligned_root_lin_vel |
| - unified/critic_ref_motion_cur_heading_aligned_root_ang_vel |
| - unified/critic_rel_robot_root_lin_vel |
| - unified/critic_rel_robot_root_ang_vel |
| - unified/critic_global_robot_bodylink_lin_vel_flat |
| - unified/critic_global_robot_bodylink_ang_vel_flat |
| - unified/critic_root_rel_robot_bodylink_pos_flat |
| - unified/critic_root_rel_robot_bodylink_rot_mat_flat |
| - unified/critic_dof_pos |
| - unified/critic_dof_vel |
| - unified/critic_last_action |
| flattened_obs_fut: |
| seq_len: ${obs.n_fut_frames} |
| terms: |
| - unified/critic_ref_dof_pos_fut |
| - unified/critic_ref_root_height_fut |
| - unified/critic_ref_motion_fut_heading_aligned_root_pos |
| - unified/critic_ref_motion_fut_heading_aligned_root_rot6d |
| - unified/critic_ref_motion_fut_heading_aligned_root_lin_vel |
| - unified/critic_ref_motion_fut_heading_aligned_root_ang_vel |
| output_dim: 1 |
| train_hdf5_roots: |
| - /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_AMASS_GMR |
| - /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_LAFAN1_g1_official |
| - /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_pico_record_260402 |
| - /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_MotionMillion_GMR_260402 |
| - /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_nyt_260410 |
| - /horizon-bucket/robot_lab/users/bo07.zhang-labs/Data/h5v2_datasets/h5v2_sonic_260430 |
| mujoco_eval: |
| enabled: true |
| robot_xml_path: assets/robots/unitree/G1/29dof/scene_29dof.xml |
| motion_npz_dir: /horizon-bucket/robot_lab/users/maiyue01.chen/expr_output/HoloMotionMotionTracking/HoloMotionMotrackV1.2/20260216_234025-training/motion_tracking/train_g1_test_h5v2_tf_aidi_8-64_2500h_more_info_beta2_2x8GPUs/isaaclab_eval_output_model_15000_v1.1_eval |
| dump_npzs: true |
| calc_per_clip_metrics: true |
| generate_report: true |
| ray_actors_per_gpu: 16 |
| ray_multi_ckpt_mode: split |
| ckpt_onnx_names: |
| - model_2000.onnx |
| - model_4000.onnx |
| - model_6000.onnx |
| - model_8000.onnx |
| - model_10000.onnx |
|
|
