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- .gitattributes +516 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/cmd_config.yaml +24 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/config.yaml +62 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx0_design_2.360236766975137e-15_sim_0.048984824508151184.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx108_design_0.15405449271202087_sim_0.04473270159623652.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx120_design_0.15148213505744934_sim_0.0453044596041539.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx12_design_5.536084245250095e-06_sim_0.04896264609072061.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx132_design_0.10879276692867279_sim_0.0442383415667987.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx144_design_0.11011139303445816_sim_0.04477190175746384.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx156_design_0.06786239147186279_sim_0.04749464815523526.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx168_design_0.1326105296611786_sim_0.04607269805452484.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx180_design_0.1327705979347229_sim_0.045773738188681364.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx192_design_0.13058756291866302_sim_0.04370832315391554.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx204_design_0.13022591173648834_sim_0.03819404791613847.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx216_design_0.07300834357738495_sim_0.0403840626297484.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx228_design_0.1341221034526825_sim_0.045942547566306155.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx240_design_0.13004760444164276_sim_0.03846947539653677.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx24_design_6.802884854550939e-06_sim_0.04897648246721705.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx252_design_0.18997029960155487_sim_0.038530998647624375.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx264_design_0.1901269406080246_sim_0.038500034838405126.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx276_design_0.1303406059741974_sim_0.03791794771812731.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx288_design_0.11042150110006332_sim_0.04083998201440821.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx300_design_0.1056068167090416_sim_0.04089698630736242.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx312_design_0.06423158943653107_sim_0.045034221952007535.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx324_design_0.062418024986982346_sim_0.04717604125730981.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx336_design_0.06142451614141464_sim_0.04698748844916811.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx348_design_0.06376422196626663_sim_0.04575259375295613.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx360_design_0.06368808448314667_sim_0.04589150422032069.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx36_design_9.909699656418525e-06_sim_0.048972011130613065.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx372_design_0.10421730577945709_sim_0.04455640133057252.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx384_design_0.10426471382379532_sim_0.04556973528004485.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx396_design_0.10416603088378906_sim_0.046456986279653986.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx408_design_0.10416394472122192_sim_0.046360747750129584.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx420_design_0.1043696254491806_sim_0.046656322785528476.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx432_design_0.1268445998430252_sim_0.03924876303904409.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx444_design_0.12716057896614075_sim_0.0401871450682827.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx456_design_0.1273060441017151_sim_0.044705211214795794.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx468_design_0.12747423350811005_sim_0.038333558362124966.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx480_design_0.1274203658103943_sim_0.04193084712870583.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx48_design_1.7635751646594144e-05_sim_0.048959487768904866.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx492_design_0.10627057403326035_sim_0.04523744476791902.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx504_design_0.1268325299024582_sim_0.0405506787276808.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx516_design_0.12658976018428802_sim_0.04191742577552553.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx528_design_0.12550100684165955_sim_0.04343269611441917.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx540_design_0.12543928623199463_sim_0.0407503448176504.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx552_design_0.15008759498596191_sim_0.04111113608453161.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx564_design_0.1498972475528717_sim_0.040339150651111724.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx576_design_0.15433821082115173_sim_0.040336405784688306.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx588_design_0.08748911321163177_sim_0.04724963102618031.npz +3 -0
- 20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx600_design_0.08776876330375671_sim_0.047135311012641984.npz +3 -0
.gitattributes
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20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx276_design_0.19019658863544464_sim_0.0351379038205596.ply filter=lfs diff=lfs merge=lfs -text
|
| 523 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx288_design_0.1902119368314743_sim_0.03545444101653414.ply filter=lfs diff=lfs merge=lfs -text
|
| 524 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx300_design_0.26572325825691223_sim_0.03494210890718768.ply filter=lfs diff=lfs merge=lfs -text
|
| 525 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx312_design_0.2400691956281662_sim_0.034625112507089474.ply filter=lfs diff=lfs merge=lfs -text
|
| 526 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx324_design_0.2713673710823059_sim_0.035358232766733784.ply filter=lfs diff=lfs merge=lfs -text
|
| 527 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx336_design_0.26858654618263245_sim_0.03507101629727441.ply filter=lfs diff=lfs merge=lfs -text
|
| 528 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx348_design_0.26709994673728943_sim_0.03515921245748744.ply filter=lfs diff=lfs merge=lfs -text
|
| 529 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx360_design_0.1797051727771759_sim_0.03467713357303177.ply filter=lfs diff=lfs merge=lfs -text
|
| 530 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx36_design_0.07433346658945084_sim_0.04777637147138304.ply filter=lfs diff=lfs merge=lfs -text
|
| 531 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx372_design_0.1813078373670578_sim_0.03478196155951085.ply filter=lfs diff=lfs merge=lfs -text
|
| 532 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx384_design_0.18470631539821625_sim_0.03568727915763301.ply filter=lfs diff=lfs merge=lfs -text
|
| 533 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx396_design_0.18507179617881775_sim_0.035717556734683166.ply filter=lfs diff=lfs merge=lfs -text
|
| 534 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx408_design_0.28007328510284424_sim_0.04433207127209578.ply filter=lfs diff=lfs merge=lfs -text
|
| 535 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx420_design_0.27916720509529114_sim_0.04275386873658561.ply filter=lfs diff=lfs merge=lfs -text
|
| 536 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx432_design_0.32450172305107117_sim_0.04340119741292663.ply filter=lfs diff=lfs merge=lfs -text
|
| 537 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx444_design_0.33139336109161377_sim_0.04423512667324086.ply filter=lfs diff=lfs merge=lfs -text
|
| 538 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx456_design_0.32952699065208435_sim_0.044483043458572034.ply filter=lfs diff=lfs merge=lfs -text
|
| 539 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx468_design_0.32711300253868103_sim_0.044339358464142956.ply filter=lfs diff=lfs merge=lfs -text
|
| 540 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx480_design_0.32884156703948975_sim_0.043823781588790175.ply filter=lfs diff=lfs merge=lfs -text
|
| 541 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx48_design_0.07214871793985367_sim_0.04739039941515142.ply filter=lfs diff=lfs merge=lfs -text
|
| 542 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx492_design_0.3300551772117615_sim_0.04414174620904865.ply filter=lfs diff=lfs merge=lfs -text
|
| 543 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx504_design_0.24148866534233093_sim_0.04391425285889152.ply filter=lfs diff=lfs merge=lfs -text
|
| 544 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx516_design_0.24141629040241241_sim_0.043761762135159636.ply filter=lfs diff=lfs merge=lfs -text
|
| 545 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx528_design_0.23605570197105408_sim_0.042616843970744916.ply filter=lfs diff=lfs merge=lfs -text
|
| 546 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx540_design_0.16251298785209656_sim_0.04418245826058024.ply filter=lfs diff=lfs merge=lfs -text
|
| 547 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx552_design_0.1627645045518875_sim_0.04424843713860148.ply filter=lfs diff=lfs merge=lfs -text
|
| 548 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx60_design_0.07047642767429352_sim_0.04454907669232755.ply filter=lfs diff=lfs merge=lfs -text
|
| 549 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx72_design_0.07606033980846405_sim_0.04028193951737608.ply filter=lfs diff=lfs merge=lfs -text
|
| 550 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx84_design_0.07575322687625885_sim_0.04411552134374569.ply filter=lfs diff=lfs merge=lfs -text
|
| 551 |
+
20260102_143307_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_4e-2_accum_3_seed45621/viz_gripper_dir/gripper_idx96_design_0.07947801053524017_sim_0.03893694956247423.ply filter=lfs diff=lfs merge=lfs -text
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/cmd_config.yaml
ADDED
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@@ -0,0 +1,24 @@
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|
| 1 |
+
accum_grad_sim: 3
|
| 2 |
+
designer_scale: 1.0
|
| 3 |
+
designer_type: branching
|
| 4 |
+
device: cuda:0
|
| 5 |
+
env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
|
| 6 |
+
exp_name: clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3
|
| 7 |
+
fixed_v_file: gripping_5_HTP.json
|
| 8 |
+
geometry_lr: 0.01
|
| 9 |
+
grad_clipping: 100.0
|
| 10 |
+
gripper_dim: 12
|
| 11 |
+
gumbel: true
|
| 12 |
+
init_emb_path: asset/embeddings/stump_2_hard_09_3_soft_03.npz
|
| 13 |
+
max_epoch: 1000
|
| 14 |
+
num_fingers: 5
|
| 15 |
+
num_segments: 10
|
| 16 |
+
object_set_file: objects_set_a.json
|
| 17 |
+
optim_config_path: config/optimization_config/no_base_pen.yaml
|
| 18 |
+
seed: 67
|
| 19 |
+
topo_lr: 0.05
|
| 20 |
+
zero_grad_dims:
|
| 21 |
+
- 8
|
| 22 |
+
- 9
|
| 23 |
+
- 10
|
| 24 |
+
- 11
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/config.yaml
ADDED
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@@ -0,0 +1,62 @@
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| 1 |
+
exp_name: debug_server
|
| 2 |
+
seed: &seed 22
|
| 3 |
+
out_dir: ./logs/
|
| 4 |
+
tensorboard_log_dir: runs/
|
| 5 |
+
save_every_iter: &log_freq 12
|
| 6 |
+
total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
|
| 7 |
+
substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
|
| 8 |
+
|
| 9 |
+
cond_config:
|
| 10 |
+
- name: "SoftZoo_Sim"
|
| 11 |
+
grad_scale: !!float 1e6
|
| 12 |
+
grad_clamp: !!float 1e0
|
| 13 |
+
calc_gradient: True
|
| 14 |
+
logging_bool: True
|
| 15 |
+
# - name: "Dist_To_Origin"
|
| 16 |
+
# grad_scale: !!float 1e0
|
| 17 |
+
# grad_clamp: !!float 1e-2
|
| 18 |
+
# calc_gradient: True
|
| 19 |
+
# logging_bool: True
|
| 20 |
+
cond_overall_logging: True
|
| 21 |
+
|
| 22 |
+
softzoo_config:
|
| 23 |
+
custom_gravity: False
|
| 24 |
+
# eval: True
|
| 25 |
+
out_dir: null # Placeholder, need to be set in run.py
|
| 26 |
+
fixed_v: gripping_5_HTP.json
|
| 27 |
+
objects_set_file: objects_set_a.json
|
| 28 |
+
env_config_file: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml # Placeholder, need to be inserted manually
|
| 29 |
+
save_every_iter: *log_freq
|
| 30 |
+
render_every_iter: 8
|
| 31 |
+
n_iters: 301
|
| 32 |
+
n_frames: 100
|
| 33 |
+
|
| 34 |
+
controller_type: all_on
|
| 35 |
+
active: True
|
| 36 |
+
action_v_strength: 0.35
|
| 37 |
+
|
| 38 |
+
loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
|
| 39 |
+
loss_coefs: [0.5,2.0,1.0]
|
| 40 |
+
obj_x_mul: [0.,1.,0.]
|
| 41 |
+
obj_particle_id: 2
|
| 42 |
+
|
| 43 |
+
design_loss_types: ['FingerPenLoss','SegmentGrowthLoss']
|
| 44 |
+
design_loss_coeffs: [0.5,1.0]
|
| 45 |
+
|
| 46 |
+
seed: *seed # Placeholder, do not use
|
| 47 |
+
torch_seed: *seed # Placeholder, do not use
|
| 48 |
+
static_as_fixed: True
|
| 49 |
+
device_memory_fraction: 0.775
|
| 50 |
+
|
| 51 |
+
optimize_designer: True
|
| 52 |
+
optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
|
| 53 |
+
designer_lr: 0.1
|
| 54 |
+
optimize_controller: True
|
| 55 |
+
gen_pointe_bounding_box:
|
| 56 |
+
max: [1.5,0.1,1.5]
|
| 57 |
+
# mean: [0.,0.,0.]
|
| 58 |
+
min: [-1.5,-3.5,-1.5]
|
| 59 |
+
|
| 60 |
+
design_device: cpu
|
| 61 |
+
obj_initial_pos: [0,0,0]
|
| 62 |
+
num_fingers: 2
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx0_design_2.360236766975137e-15_sim_0.048984824508151184.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a3d9dfb5e6113518a02ef61c870a11a14f81af4a696c1badcc135bc735667a52
|
| 3 |
+
size 1060
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx108_design_0.15405449271202087_sim_0.04473270159623652.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3dc965063964aa4248b1e7ab5b8582a84affc1a77b80628d5e1d84696ef60a14
|
| 3 |
+
size 3484
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx120_design_0.15148213505744934_sim_0.0453044596041539.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1cbd5e37980249f116effd3d7b18d7a5aaa389bc479add000d5df526b358ca9b
|
| 3 |
+
size 3491
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx12_design_5.536084245250095e-06_sim_0.04896264609072061.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:84259564e8ea963f712e5a636076efd29e96710ffbd0f6ea4f38da4235491556
|
| 3 |
+
size 3409
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx132_design_0.10879276692867279_sim_0.0442383415667987.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5e555abd9706c5f8c430acc29f273050930430a59f268dccc0fc395b551d23ab
|
| 3 |
+
size 3494
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx144_design_0.11011139303445816_sim_0.04477190175746384.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:54e3dfcbd109c7fec8afad3d5ea5d8790080e638a6d3eebdc71243668d94f4c1
|
| 3 |
+
size 3492
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx156_design_0.06786239147186279_sim_0.04749464815523526.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2a983eb7b6f8819b84f6799e0dacdf08854ee9d6393182800fae66f22ff3f3ef
|
| 3 |
+
size 3499
|
20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx168_design_0.1326105296611786_sim_0.04607269805452484.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
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ADDED
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ADDED
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20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx576_design_0.15433821082115173_sim_0.040336405784688306.npz
ADDED
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20260102_043056_clip_nobasepen_2hard3soft_branching_geo_1e-2_topo_5e-2_accum_3_seed67/embeddings/gripper_idx588_design_0.08748911321163177_sim_0.04724963102618031.npz
ADDED
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ADDED
|
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