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