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b/20260119_113222_pi8angle_gumbel_prompt_hand_geo5e-3_topo2e-2_accum3_seed4343/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d617e6e066c4f20c94f9805c95d812cddcb7952d --- /dev/null +++ b/20260119_113222_pi8angle_gumbel_prompt_hand_geo5e-3_topo2e-2_accum3_seed4343/cmd_config.yaml @@ -0,0 +1,34 @@ +accum_grad_sim: 3 +desc_prompt: base.txt +designer_scale: 1.0 +designer_type: branching +device: cuda:0 +env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml +exp_name: pi8angle_gumbel_prompt_hand_geo5e-3_topo2e-2_accum3 +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.005 +grad_clipping: 0.1 +gripper_dim: 12 +gumbel: true +init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03_suck_05.npz +layout_config_file: hand.json +max_epoch: 1200 +min_delta: 0.0 +monitor_metric: eval/sim_loss +num_fingers: 5 +num_segments: 10 +object_set_file: objects_set_a_1.json +optim_config_path: config/optimization_config/hand2/pi8penangle_prompt.yaml +patience: 10 +seed: 4343 +stop_mode: min +topo_lr: 0.02 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260119_113222_pi8angle_gumbel_prompt_hand_geo5e-3_topo2e-2_accum3_seed4343/config.yaml b/20260119_113222_pi8angle_gumbel_prompt_hand_geo5e-3_topo2e-2_accum3_seed4343/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e26bc705c4515a57d0d62c274623a6eed196952 --- /dev/null +++ b/20260119_113222_pi8angle_gumbel_prompt_hand_geo5e-3_topo2e-2_accum3_seed4343/config.yaml @@ -0,0 +1,66 @@ +exp_name: debug_server +seed: &seed 22 +out_dir: ./logs/ +tensorboard_log_dir: runs/ +save_every_iter: &log_freq 12 +total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler) +substep_count: 1 # remember to update in diffusion config in pointe, under the k keys + +cond_config: + - name: "SoftZoo_Sim" + grad_scale: !!float 1e6 + grad_clamp: !!float 1e0 + calc_gradient: True + logging_bool: True + # - name: "Dist_To_Origin" + # grad_scale: !!float 1e0 + # grad_clamp: !!float 1e-2 + # calc_gradient: True + # logging_bool: True +cond_overall_logging: True + +softzoo_config: + custom_gravity: False + # eval: True + out_dir: null # Placeholder, need to be set in run.py + fixed_v: gripping_5_HTP.json + objects_set_file: objects_set_a.json + 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 + layout_config_file: hand.json + desc_prompt: base.txt + viewpoint: [-1.,-0.25,-0.1] + save_every_iter: *log_freq + render_every_iter: 8 + n_iters: 301 + n_frames: 100 + + controller_type: all_on + active: True + action_v_strength: 0.35 + + loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss] + loss_coefs: [1.e-4,1.e-5,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [1.,2.,1.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss'] + design_loss_coeffs: 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+ # calc_gradient: True + # logging_bool: True +cond_overall_logging: True + +softzoo_config: + custom_gravity: False + # eval: True + out_dir: null # Placeholder, need to be set in run.py + fixed_v: gripping_5_HTP.json + objects_set_file: objects_set_a.json + 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 + layout_config_file: hand.json + desc_prompt: base.txt + viewpoint: [-1.,-0.25,-0.1] + save_every_iter: *log_freq + render_every_iter: 8 + n_iters: 301 + n_frames: 100 + + controller_type: all_on + active: True + action_v_strength: 0.35 + + loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss] + loss_coefs: [1.e-4,1.e-5,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [1.,2.,1.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss'] + design_loss_coeffs: [1.0,1.0,1.e-4,0.1] + + seed: *seed # Placeholder, do not use + torch_seed: *seed # Placeholder, do not use + 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gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml +exp_name: pi8angle_gumbel_prompt_hand_geo5e-2_topo5e-2_accum3 +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.05 +grad_clipping: 0.1 +gripper_dim: 12 +gumbel: true +init_emb_path: asset/embeddings/hand_stump_1_hard_09_3_soft_03_suck_05.npz +layout_config_file: hand.json +max_epoch: 1200 +min_delta: 0.0 +monitor_metric: eval/sim_loss +num_fingers: 5 +num_segments: 10 +object_set_file: objects_set_a_1.json +optim_config_path: config/optimization_config/hand2/pi8penangle_prompt.yaml +patience: 10 +seed: 4343 +stop_mode: min +topo_lr: 0.05 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260119_114915_pi8angle_gumbel_prompt_hand_geo5e-2_topo5e-2_accum3_seed4343/config.yaml b/20260119_114915_pi8angle_gumbel_prompt_hand_geo5e-2_topo5e-2_accum3_seed4343/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e26bc705c4515a57d0d62c274623a6eed196952 --- /dev/null +++ b/20260119_114915_pi8angle_gumbel_prompt_hand_geo5e-2_topo5e-2_accum3_seed4343/config.yaml @@ -0,0 +1,66 @@ +exp_name: debug_server +seed: &seed 22 +out_dir: ./logs/ +tensorboard_log_dir: runs/ +save_every_iter: &log_freq 12 +total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler) +substep_count: 1 # remember to update in diffusion config in pointe, under the k keys + +cond_config: + - name: "SoftZoo_Sim" + grad_scale: !!float 1e6 + grad_clamp: !!float 1e0 + calc_gradient: True + logging_bool: True + # - name: "Dist_To_Origin" + # grad_scale: !!float 1e0 + # grad_clamp: !!float 1e-2 + # calc_gradient: True + # logging_bool: True +cond_overall_logging: True + +softzoo_config: + custom_gravity: False + # eval: True + out_dir: null # Placeholder, need to be set in run.py + fixed_v: gripping_5_HTP.json + objects_set_file: objects_set_a.json + 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 + layout_config_file: hand.json + desc_prompt: base.txt + viewpoint: [-1.,-0.25,-0.1] + save_every_iter: *log_freq + render_every_iter: 8 + n_iters: 301 + n_frames: 100 + + controller_type: all_on + active: True + action_v_strength: 0.35 + + loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss] + loss_coefs: [1.e-4,1.e-5,1.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [1.,2.,1.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss'] + design_loss_coeffs: [1.0,1.0,1.e-4,0.1] + + seed: *seed # Placeholder, do not use + torch_seed: *seed # Placeholder, do not use + static_as_fixed: True + device_memory_fraction: 0.775 + + optimize_designer: True + optimize_design_types: ['geometry','softness_E','softness_v','suction_val'] + designer_lr: 0.1 + optimize_controller: True + gen_pointe_bounding_box: + max: [1.5,0.1,1.5] + # mean: [0.,0.,0.] + min: [-1.5,-3.0,-1.5] + + design_device: cpu + obj_initial_pos: [0,0,0] + 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-1.5 + ] + }, + "goal": [ + 0.8, + 0.0, + 0.0, + 1700 + ], + "layout_config_file": "hand.json", + "load_args": null, + "load_controller": null, + "load_designer": null, + "load_rl_controller": null, + "log_every_iter": 1, + "log_reward": false, + "loss_coefs": [ + 0.0001, + 1e-05, + 1.0 + ], + "loss_landscape_vbr_grid_index": [ + 0, + 0, + 0 + ], + "loss_landscape_vbr_n_trials": 10, + "loss_landscape_vbr_trial_type": "geometry", + "loss_landscape_vbr_value_range": [ + 0.0, + 1.0 + ], + "loss_types": [ + "ObjectBalancedLoss", + "ContactLoss", + "ThrowingObjectLoss" + ], + "mesh_dir": "./local/meshes/fantasy_horse", + "mesh_num_points": 5000, + "mlp_activation": "Tanh", + "mlp_coord_input_names": [ + "x", + "y", + "z", + "d_xy", + "d_yz", + "d_xz", + "d_xyz" + ], + "mlp_filters": [ + 32, + 32 + ], + "mlp_seed_meshes": [], + "n_frames": 100, + "n_iters": 301, + "n_sin_waves": 4, + "non_taichi_device": "torch_cpu", + "num_fingers": 2, + "obj_initial_pos": [ + 0, + 0, + 0 + ], + 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"sdf_basis_passive_softness_mul": 10, + "sdf_basis_pcd_paths": [], + "sdf_basis_use_global_coefs": false, + "seed": 22, + "set_design_types": [ + "geometry", + "softness_E", + "softness_v", + "actuator", + "actuator_direction", + "is_passive_fixed", + "suction_val" + ], + "sin_omega_mul": 10.0, + "static_as_fixed": true, + "substep_freq": 100, + "torch_seed": 22, + "v_following_mode": 0, + "v_following_v_mul": [ + 1.0, + 1.0, + 1.0 + ], + "v_mul": [ + 1.0, + 0.0, + 0.0 + ], + "viewpoint": [ + -1.0, + -0.25, + -0.1 + ], + "wass_barycenter_init_coefs_actuator": null, + "wass_barycenter_init_coefs_geometry": null, + "wass_barycenter_init_coefs_softness": null, + "wass_barycenter_passive_geometry_mul": 0.5, + "wass_barycenter_passive_softness_mul": 10, + "x_mul": [ + 1.0, + 0.0, + 0.0 + ] +} \ No newline at end of file diff --git a/20260119_114915_pi8angle_gumbel_prompt_hand_geo5e-2_topo5e-2_accum3_seed4343/softzoo/ckpt/env_config.yaml b/20260119_114915_pi8angle_gumbel_prompt_hand_geo5e-2_topo5e-2_accum3_seed4343/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fca396a2b56ae357f28a49dda7227f88ad2b5508 --- /dev/null +++ b/20260119_114915_pi8angle_gumbel_prompt_hand_geo5e-2_topo5e-2_accum3_seed4343/softzoo/ckpt/env_config.yaml @@ -0,0 +1,137 @@ +ENVIRONMENT: + use_semantic_occupancy: False + CUSTOM: + has_matter_on_ground: false + matter_id: 4 + matter_materials: [] + matter_padding: + - 32 + - 3 + - 32 + matter_sample_density: 8 + matter_semantic_id: 4 + matter_thickness: 0.02 + matter_youngs_modulus: 100000.0 + randomize_terrain: false + ITEMS: + - semantic_id: 0 + type: Static.BoundingBox + - dampen_coeff: 1.0 + friction: 0.5 + max_height: 0.1 + min_height: 0.1 + semantic_id: 0 + surface: Surface.Slip + type: Static.Terrain + - file_path: asset/obj_placeholder/bottle.obj + ground_height: 0.101 + initial_position: + - 0.55 + - 0.0 + - 0.4 + initial_rotation: + - 0.5 + 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